Robot Simulator of the Robotics Group for Self-Organization of Control: nimm4.h Source File

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# nimm4.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  *   $Log: nimm4.h,v $
    00023  *   Revision 1.10  2009/05/11 17:03:07  martius
    00024  *   minor substance change
    00025  *
    00026  *   Revision 1.9  2008/05/07 16:45:52  martius
    00027  *   code cosmetics and documentation
    00028  *
    00029  *   Revision 1.8  2007/11/07 13:21:16  martius
    00030  *   doInternal stuff changed signature
    00031  *
    00032  *   Revision 1.7  2007/09/06 18:48:00  martius
    00033  *   createNewSimpleSpace used
    00034  *
    00035  *   Revision 1.6  2006/07/14 12:23:41  martius
    00036  *   selforg becomes HEAD
    00037  *
    00038  *   Revision 1.5.4.13  2006/06/25 16:57:14  martius
    00039  *   abstractrobot is configureable
    00040  *   name and revision
    00041  *
    00042  *   Revision 1.5.4.12  2006/04/04 14:13:24  fhesse
    00043  *   documentation improved
    00044  *
    00045  *   Revision 1.5.4.11  2006/03/31 16:20:28  fhesse
    00046  *   class Joint; changed to: class Hinge2Joint;
    00047  *
    00048  *   Revision 1.5.4.10  2006/03/30 12:34:56  martius
    00049  *   documentation updated
    00050  *
    00051  *   Revision 1.5.4.9  2005/12/15 17:04:08  martius
    00052  *   Primitives are not longer inherited from OSGPrimitive, moreover
    00053  *   they aggregate them.
    00054  *   Joint have better getter and setter
    00055  *
    00056  *   Revision 1.5.4.8  2005/12/14 15:37:09  martius
    00057  *   robots are working with osg
    00058  *
    00059  *   Revision 1.5.4.7  2005/12/13 18:11:40  martius
    00060  *   still trying to port robots
    00061  *
    00062  *   Revision 1.5.4.6  2005/12/12 23:41:19  martius
    00063  *   added Joint wrapper
    00064  *
    00065  *   Revision 1.5.4.5  2005/12/11 23:35:08  martius
    00066  *   *** empty log message ***
    00067  *
    00068  *   Revision 1.5.4.4  2005/12/06 10:13:25  martius
    00069  *   openscenegraph integration started
    00070  *
    00071  *   Revision 1.5.4.3  2005/11/16 11:26:52  martius
    00072  *   moved to selforg
    00073  *
    00074  *   Revision 1.5.4.2  2005/11/15 12:29:26  martius
    00075  *   new selforg structure and OdeAgent, OdeRobot ...
    00076  *
    00077  *   Revision 1.5.4.1  2005/11/14 17:37:18  martius
    00078  *   moved to selforg
    00079  *
    00080  *   Revision 1.5  2005/10/27 16:10:41  fhesse
    00081  *   nimm4 as example
    00082  *
    00083  *   Revision 1.4  2005/09/22 12:24:37  martius
    00084  *   removed global variables
    00085  *   OdeHandle and GlobalData are used instead
    00086  *   sensor prepared
    00087  *
    00088  *   Revision 1.3  2005/08/31 11:14:06  martius
    00089  *   removed unused vars
    00090  *
    00091  *   Revision 1.2  2005/08/03 20:38:56  martius
    00092  *   added textures and correct placement
    00093  *
    00094  *   Revision 1.1  2005/07/29 15:13:11  martius
    00095  *   a robot with 4 independent wheels
    00096  *
    00097  *                                                                 *
    00098  ***************************************************************************/
    00099 #ifndef __NIMM4_H
    00100 #define __NIMM4_H
    00101
    00102 #include "oderobot.h"
    00103
    00104 namespace lpzrobots {
    00105
    00106   class Primitive;
    00107   class Hinge2Joint;
    00108
    00109   /** Robot that looks like a Nimm 2 Bonbon :-)
    00110       4 wheels and a capsule like body
    00111   */
    00112   class Nimm4 : public OdeRobot{
    00113   public:
    00114
    00115     /**
    00116      * constructor of nimm4 robot
    00117      * @param odeHandle data structure for accessing ODE
    00118      * @param osgHandle ata structure for accessing OSG
    00119      * @param size scaling of robot
    00120      * @param force maximal used force to realize motorcommand
    00121      * @param speed factor for changing speed of robot
    00122      * @param sphereWheels switches between spheres and  'normal' wheels
    00123      */
    00124     Nimm4(const OdeHandle& odeHandle, const OsgHandle& osgHandle, const std::string& name,
    00125           double size=1, double force=3, double speed=15, bool sphereWheels=true);
    00126
    00127     virtual ~Nimm4(){
    00128       destroy();
    00129     };
    00130
    00131     /**
    00132      * updates the OSG nodes of the vehicle
    00133      */
    00134     virtual void update();
    00135
    00136
    00137     /** sets the pose of the vehicle
    00138         @param pose desired pose matrix
    00139     */
    00140     virtual void place(const osg::Matrix& pose);
    00141
    00142     /** returns actual sensorvalues
    00143         @param sensors sensors scaled to [-1,1]
    00144         @param sensornumber length of the sensor array
    00145         @return number of actually written sensors
    00146     */
    00147     virtual int getSensors(sensor* sensors, int sensornumber);
    00148
    00149     /** sets actual motorcommands
    00150         @param motors motors scaled to [-1,1]
    00151         @param motornumber length of the motor array
    00152     */
    00153     virtual void setMotors(const motor* motors, int motornumber);
    00154
    00155     /** returns number of sensors
    00156      */
    00157     virtual int getSensorNumber(){
    00158       return sensorno;
    00159     };
    00160
    00161     /** returns number of motors
    00162      */
    00163     virtual int getMotorNumber(){
    00164       return motorno;
    00165     };
    00166
    00167     /** this function is called in each timestep. It should perform robot-internal checks,
    00168         like space-internal collision detection, sensor resets/update etc.
    00169         @param globalData structure that contains global data from the simulation environment
    00170     */
    00171     virtual void doInternalStuff(GlobalData& globalData);
    00172
    00173
    00174   protected:
    00175     /** the main object of the robot, which is used for position and speed tracking */
    00176     virtual Primitive* getMainPrimitive() const { return object[0]; }
    00177
    00178     /** creates vehicle at desired pose
    00179         @param pose 4x4 pose matrix
    00180     */
    00181     virtual void create(const osg::Matrix& pose);
    00182
    00183     /** destroys vehicle and space
    00184      */
    00185     virtual void destroy();
    00186
    00187     /** additional things for collision handling can be done here
    00188      */
    00189     static void mycallback(void *data, dGeomID o1, dGeomID o2);
    00190
    00191     double length;     // chassis length
    00192     double width;      // chassis width
    00193     double height;     // chassis height
    00194     double radius;     // wheel radius
    00195     double wheelthickness; // thickness of the wheels
    00196     bool sphereWheels; // draw spherical wheels?
    00197     double cmass;      // chassis mass
    00198     double wmass;      // wheel mass
    00199     int sensorno;      // number of sensors
    00200     int motorno;       // number of motors
    00201     int segmentsno;    // number of motorsvehicle segments
    00202     double speed;      // factor for adjusting speed of robot
    00203
    00204     double max_force;  // maximal force for motors
    00205
    00206     bool created;      // true if robot was created
    00207
    00208     Substance wheelsubstance; // material of wheel
    00209
    00210     Primitive* object[5];  // 1 capsule, 4 wheels
    00211     Hinge2Joint* joint[4]; // joints between cylinder and each wheel
    00212
    00213   };
    00214
    00215 }
    00216
    00217 #endif