Robot Simulator of the Robotics Group for Self-Organization of Control: schlangeservo2.h Source File

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# schlangeservo2.h

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    00001 /************************************************************************/
    00002 /*schlangeservo.h                                                       */
    00003 /*Snake with PID Servo motors (just motor per joint)                    */
    00004 /*@author Georg Martius                                                 */
    00005 /*                                                                      */
    00006 /************************************************************************/
    00007 /***************************************************************************
    00008  *   Copyright (C) 2005 by Robot Group Leipzig                             *
    00009  *    martius@informatik.uni-leipzig.de                                    *
    00010  *    fhesse@informatik.uni-leipzig.de                                     *
    00011  *    der@informatik.uni-leipzig.de                                        *
    00012  *                                                                         *
    00013  *   This program is free software; you can redistribute it and/or modify  *
    00014  *   it under the terms of the GNU General Public License as published by  *
    00015  *   the Free Software Foundation; either version 2 of the License, or     *
    00016  *   (at your option) any later version.                                   *
    00017  *                                                                         *
    00018  *   This program is distributed in the hope that it will be useful,       *
    00019  *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
    00020  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
    00021  *   GNU General Public License for more details.                          *
    00022  *                                                                         *
    00023  *   You should have received a copy of the GNU General Public License     *
    00024  *   along with this program; if not, write to the                         *
    00025  *   Free Software Foundation, Inc.,                                       *
    00026  *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
    00027  *                                                                         *
    00028  *   $Log: schlangeservo2.h,v $
    00029  *   Revision 1.5  2007/02/12 13:28:38  martius
    00030  *   twoaxiservos
    00031  *
    00032  *   Revision 1.4  2006/09/20 12:56:17  martius
    00033  *   Snakes have CreateSegment
    00034  *
    00035  *   Revision 1.3  2006/07/20 17:19:44  martius
    00036  *   removed using namespace std from matrix.h
    00037  *
    00038  *   Revision 1.2  2006/07/14 12:23:41  martius
    00039  *   selforg becomes HEAD
    00040  *
    00041  *   Revision 1.1.2.3  2006/06/25 16:57:16  martius
    00042  *   abstractrobot is configureable
    00043  *   name and revision
    00044  *
    00045  *   Revision 1.1.2.2  2006/03/30 12:34:56  martius
    00046  *   documentation updated
    00047  *
    00048  *   Revision 1.1.2.1  2006/02/01 18:33:40  martius
    00049  *   use Axis type for Joint axis. very important, since otherwise Vec3 * pose is not the right direction vector anymore
    00050  *
    00051  *                                                                 *
    00052  ***************************************************************************/
    00053 #ifndef __SCHLANGESERVO2_H
    00054 #define __SCHLANGESERVO2_H
    00055
    00056
    00057 #include "schlange.h"
    00058 #include "twoaxisservo.h"
    00059
    00060 namespace lpzrobots {
    00061
    00062   /**
    00063    * This is a class, which models a snake like robot.
    00064    * It consists of a number of equal elements, each linked
    00065    * by a joint powered by 2 servos
    00066    **/
    00067   class SchlangeServo2: public Schlange
    00068   {
    00069   private:
    00070     std::vector <UniversalServo*> servos;
    00071
    00072   public:
    00073     SchlangeServo2 ( const OdeHandle& odeHandle, const OsgHandle& osgHandle,
    00074                      const SchlangeConf& conf,
    00075                      const std::string& name,
    00076                      const std::string& revision = "" );
    00077
    00078     virtual ~SchlangeServo2();
    00079
    00080     /**
    00081      *Reads the actual motor commands from an array,
    00082      *an sets all motors of the snake to this values.
    00083      *It is an linear allocation.
    00084      *@param motors pointer to the array, motor values are scaled to [-1,1]
    00085      *@param motornumber length of the motor array
    00086      **/
    00087     virtual void setMotors ( const motor* motors, int motornumber );
    00088
    00089     /**
    00090      *Writes the sensor values to an array in the memory.
    00091      *@param sensors pointer to the array
    00092      *@param sensornumber length of the sensor array
    00093      *@return number of actually written sensors
    00094      **/
    00095     virtual int getSensors ( sensor* sensors, int sensornumber );
    00096
    00097     /** returns number of sensors
    00098      */
    00099     virtual int getSensorNumber() { assert(created); return 2*servos.size(); }
    00100
    00101     /** returns number of motors
    00102      */
    00103     virtual int getMotorNumber(){ assert(created); return 2*servos.size(); }
    00104
    00105     virtual bool setParam(const paramkey& key, paramval val);
    00106
    00107   private:
    00108     virtual void create(const osg::Matrix& pose);
    00109     virtual void destroy();
    00110   };
    00111
    00112 }
    00113
    00114 #endif