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

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# schlangeservo.h

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    00001 /************************************************************************/
    00002 /*schlangeservo.h                                                       */
    00003 /*Snake with PID Servo motors (just one 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: schlangeservo.h,v $
    00029  *   Revision 1.10  2009/05/11 15:44:30  martius
    00030  *   new velocity servos used
    00031  *
    00032  *   Revision 1.9  2007/01/26 12:05:04  martius
    00033  *   servos combinied into OneAxisServo
    00034  *
    00035  *   Revision 1.8  2006/09/20 12:56:17  martius
    00036  *   Snakes have CreateSegment
    00037  *
    00038  *   Revision 1.7  2006/07/20 17:19:44  martius
    00039  *   removed using namespace std from matrix.h
    00040  *
    00041  *   Revision 1.6  2006/07/14 12:23:41  martius
    00042  *   selforg becomes HEAD
    00043  *
    00044  *   Revision 1.5.4.7  2006/06/25 16:57:15  martius
    00045  *   abstractrobot is configureable
    00046  *   name and revision
    00047  *
    00048  *   Revision 1.5.4.6  2006/03/30 12:34:56  martius
    00049  *   documentation updated
    00050  *
    00051  *   Revision 1.5.4.5  2006/02/01 18:33:40  martius
    00052  *   use Axis type for Joint axis. very important, since otherwise Vec3 * pose is not the right direction vector anymore
    00053  *
    00054  *   Revision 1.5.4.4  2005/12/29 16:46:24  martius
    00055  *   inherits from Schlange
    00056  *   moved to osg
    00057  *
    00058  *   Revision 1.5.4.3  2005/11/16 11:26:53  martius
    00059  *   moved to selforg
    00060  *
    00061  *   Revision 1.5.4.2  2005/11/15 12:29:27  martius
    00062  *   new selforg structure and OdeAgent, OdeRobot ...
    00063  *
    00064  *   Revision 1.5.4.1  2005/11/14 17:37:18  martius
    00065  *   moved to selforg
    00066  *
    00067  *   Revision 1.5  2005/11/09 13:24:42  martius
    00068  *   added GPL
    00069  *
    00070  *                                                                 *
    00071  ***************************************************************************/
    00072 #ifndef __SCHLANGESERVO_H
    00073 #define __SCHLANGESERVO_H
    00074
    00075
    00076 #include "schlange.h"
    00077 #include "oneaxisservo.h"
    00078
    00079 namespace lpzrobots {
    00080
    00081   /**
    00082    * This is a class, which models a snake like robot.
    00083    * It consists of a number of equal elements, each linked
    00084    * by a joint hinge powered by 1 servos
    00085    **/
    00086   class SchlangeServo: public Schlange
    00087   {
    00088   private:
    00089     std::vector <HingeServo*> servos;
    00090
    00091   public:
    00092     SchlangeServo ( const OdeHandle& odeHandle, const OsgHandle& osgHandle,
    00093                     const SchlangeConf& conf,
    00094                     const std::string& name, const std::string& revision="");
    00095
    00096
    00097     virtual ~SchlangeServo();
    00098
    00099     /**
    00100      *Reads the actual motor commands from an array,
    00101      *an sets all motors of the snake to this values.
    00102      *It is an linear allocation.
    00103      *@param motors pointer to the array, motor values are scaled to [-1,1]
    00104      *@param motornumber length of the motor array
    00105      **/
    00106     virtual void setMotors ( const motor* motors, int motornumber );
    00107
    00108     /**
    00109      *Writes the sensor values to an array in the memory.
    00110      *@param sensors pointer to the array
    00111      *@param sensornumber length of the sensor array
    00112      *@return number of actually written sensors
    00113      **/
    00114     virtual int getSensors ( sensor* sensors, int sensornumber );
    00115
    00116     /** returns number of sensors
    00117      */
    00118     virtual int getSensorNumber() { assert(created); return servos.size(); }
    00119
    00120     /** returns number of motors
    00121      */
    00122     virtual int getMotorNumber(){ assert(created); return servos.size(); }
    00123
    00124     virtual bool setParam(const paramkey& key, paramval val);
    00125
    00126   private:
    00127     virtual void create(const osg::Matrix& pose);
    00128     virtual void destroy();
    00129   };
    00130
    00131 }
    00132
    00133 /*
    00134 Parameters for invertmotornstep controller:
    00135 motorpower=5
    00136 sensorfactor=5
    00137
    00138 controller->setParam("adaptrate", 0.000);
    00139 controller->setParam("epsC", 0.01);
    00140 controller->setParam("epsA", 0.01);
    00141 controller->setParam("dampA", 0.0001);
    00142 controller->setParam("rootE", 1);
    00143 controller->setParam("steps", 1);
    00144 controller->setParam("s4avg", 1);
    00145 controller->setParam("s4del", 5);
    00146 global.odeConfig.setParam("controlinterval",4);
    00147
    00148
    00149 High frequency modes and then low-dim modes occur with
    00150 controller->setParam("adaptrate", 0.0001);
    00151 controller->setParam("nomupdate", 0.0007);
    00152 controller->setParam("epsC", 0.01);
    00153 controller->setParam("epsA", 0.01);
    00154 controller->setParam("dampA", 0.0001);
    00155 controller->setParam("rootE", 1);
    00156 controller->setParam("steps", 1);
    00157 controller->setParam("s4avg", 1);
    00158 controller->setParam("s4del", 1);
    00159 global.odeConfig.setParam("controlinterval",1);
    00160
    00161
    00162 */
    00163
    00164
    00165 #endif
    00166