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

- Main Page
- Namespaces
- Classes
- Files
- Directories
- Related Pages
- Examples

- Search for |

- File List
- File Members

# discus.h

Go to the documentation of this file.

    00001 /***************************************************************************
    00002  *   Copyright (C) 2005 by Robot Group Leipzig                             *
    00003  *    martius@informatik.uni-leipzig.de                                    *
    00004  *    fhesse@informatik.uni-leipzig.de                                     *
    00005  *    der@informatik.uni-leipzig.de                                        *
    00006  *                                                                         *
    00007  *   This program is free software; you can redistribute it and/or modify  *
    00008  *   it under the terms of the GNU General Public License as published by  *
    00009  *   the Free Software Foundation; either version 2 of the License, or     *
    00010  *   (at your option) any later version.                                   *
    00011  *                                                                         *
    00012  *   This program is distributed in the hope that it will be useful,       *
    00013  *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
    00014  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
    00015  *   GNU General Public License for more details.                          *
    00016  *                                                                         *
    00017  *   You should have received a copy of the GNU General Public License     *
    00018  *   along with this program; if not, write to the                         *
    00019  *   Free Software Foundation, Inc.,                                       *
    00020  *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
    00021  *                                                                 *
    00022  ***************************************************************************
    00023  *                                                                         *
    00024  * A discusbot
    00025  *                                                                         *
    00026  *   $Log: discus.h,v $
    00027  *   Revision 1.2  2009/08/10 07:26:08  guettler
    00028  *   removed typedef to avoid compiler warnings
    00029  *
    00030  *   Revision 1.1  2009/01/19 14:33:34  martius
    00031  *   new discus-shaped robot
    00032  *
    00033  *
    00034  *                                                                 *
    00035  ***************************************************************************/
    00036
    00037 #ifndef __DISCUS_H
    00038 #define __DISCUS_H
    00039
    00040 #include <ode_robots/primitive.h>
    00041 #include <ode_robots/joint.h>
    00042 #include <ode_robots/oneaxisservo.h>
    00043 #include <ode_robots/oderobot.h>
    00044 #include <ode_robots/sensor.h>
    00045 #include <ode_robots/raysensorbank.h>
    00046
    00047 namespace lpzrobots {
    00048
    00049   /// configuration object for the Discus robot.
    00050 typedef struct {
    00051 public:
    00052   double diameter;
    00053   double relativewidth;
    00054   double stabdiameter;    ///< diameter of capsule relative to diameter of body
    00055   unsigned int  numAxes;  ///< number of axes with moving masses
    00056   double spheremass;
    00057   double pendulardiameter; ///< automatically set
    00058   double pendularmass;
    00059   double motorpowerfactor; ///< power factor for servos w.r.t. pendularmass
    00060   double pendularrange;    ///< fraction of the diameter the pendular masses can move to one side
    00061   double pendularrangeN;   ///< fraction of the diameter the normal pendular masses can move to one side
    00062   bool motorsensor;        ///< motor values as sensors
    00063   bool irAxis1;
    00064   bool irAxis2;
    00065   bool irAxis3;
    00066   bool irRing;            ///< IR sensors in a ring in x,z plane (collides with irAxis1 and irAxis3)
    00067   bool irSide;            ///< 4 IR senors to both side in y direction (collides with irAxis2)
    00068   bool drawIRs;
    00069   double irsensorscale; ///< range of the ir sensors in units of diameter
    00070   double irCharacter;   ///< characteristics of sensor (\f[ x^c \f] where x is the range-distance)
    00071   RaySensor* irSensorTempl;  ///< template for creation of the other ir sensors (if 0 then IRSensor(irCharacter))
    00072   double motor_ir_before_sensors; ///< if true motor sensors and ir sensors are given before additional sensors
    00073   double brake;         ///< if nonzero the robot brakes (deaccelerates actively/magically) (velocity dependend torque)
    00074
    00075   /// function that deletes sensors
    00076   void destroy();
    00077   /// list of sensors that are mounted at the robot. (e.g.\ AxisOrientationSensor)
    00078   std::list<Sensor*> sensors;
    00079   /// adds a sensor to the list of sensors
    00080   void addSensor(Sensor* s) { sensors.push_back(s); }
    00081 } DiscusConf;
    00082
    00083 /**
    00084    A spherical robot with 3 internal masses, which can slide on their orthogonal axes.
    00085    This robot was inspired by Julius Popp (http://sphericalrobots.com)
    00086 */
    00087 class Discus : public OdeRobot
    00088 {
    00089 public:
    00090   /// enum for the objects of the robot
    00091   /* typedef */ enum objects { Base, Stabilizer, Pendular1, Pendular2, Pendular3, Last } ;
    00092
    00093 protected:
    00094   static const int maxservono=3;
    00095
    00096   Primitive* object[Last];
    00097   SliderServo* servo[maxservono];
    00098   SliderJoint* joint[maxservono];
    00099   OSGPrimitive* axis[maxservono];
    00100
    00101   DiscusConf conf;
    00102   RaySensorBank irSensorBank; ///< a collection of ir sensors
    00103   double transparency;
    00104   bool created;
    00105
    00106 public:
    00107
    00108   /**
    00109    *constructor
    00110    **/
    00111   Discus ( const OdeHandle& odeHandle, const OsgHandle& osgHandle,
    00112                        const DiscusConf& conf, const std::string& name, double transparency=0.5 );
    00113
    00114 protected:
    00115   /**
    00116    *constructor for children
    00117    **/
    00118   Discus ( const OdeHandle& odeHandle, const OsgHandle& osgHandle,
    00119                        const DiscusConf& conf,
    00120                        const std::string& name, const std::string& revision, double transparency);
    00121   /// initialises some internal variables
    00122   void init();
    00123 public:
    00124   virtual ~Discus();
    00125
    00126
    00127   /// default configuration
    00128   static DiscusConf getDefaultConf(){
    00129     DiscusConf c;
    00130     c.diameter     = 1;
    00131     c.relativewidth= 0.2;
    00132     c.stabdiameter=0.7;
    00133     c.numAxes = 3;
    00134     c.spheremass   = 1;// 0.1
    00135     c.pendularmass  = 0.75;
    00136     c.pendularrange  = 0.20; // range of the slider from center in multiple of diameter [-range,range]
    00137     c.pendularrangeN = 0.25;
    00138     c.motorpowerfactor  = 100;
    00139     c.motorsensor = true;
    00140     c.irAxis1=false;
    00141     c.irAxis2=false;
    00142     c.irAxis3=false;
    00143     c.irRing=false;
    00144     c.irSide=false;
    00145     c.drawIRs=true;
    00146     c.irsensorscale=1.5;
    00147     c.irCharacter=1;
    00148     c.irSensorTempl=0;
    00149     c.motor_ir_before_sensors=false;
    00150     c.brake=0;
    00151    return c;
    00152   }
    00153
    00154   virtual void update();
    00155
    00156   virtual void place(const osg::Matrix& pose);
    00157
    00158   virtual void doInternalStuff(GlobalData& globalData);
    00159
    00160   virtual int getSensors ( sensor* sensors, int sensornumber );
    00161
    00162   virtual void setMotors ( const motor* motors, int motornumber );
    00163
    00164   virtual int getMotorNumber();
    00165
    00166   virtual int getSensorNumber();
    00167
    00168   virtual Primitive* getMainPrimitive() const { return object[Base]; }
    00169
    00170 protected:
    00171
    00172   virtual void create(const osg::Matrix& pose);
    00173   virtual void destroy();
    00174
    00175
    00176 };
    00177
    00178 }
    00179
    00180 #endif