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

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

- Search for |

- File List
- File Members

# caterpillar.h

Go to the documentation of this file.

    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  *    frankguettler@gmx.de                                                 *
    00013  *                                                                         *
    00014  *   This program is free software; you can redistribute it and/or modify  *
    00015  *   it under the terms of the GNU General Public License as published by  *
    00016  *   the Free Software Foundation; either version 2 of the License, or     *
    00017  *   (at your option) any later version.                                   *
    00018  *                                                                         *
    00019  *   This program is distributed in the hope that it will be useful,       *
    00020  *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
    00021  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
    00022  *   GNU General Public License for more details.                          *
    00023  *                                                                         *
    00024  *   You should have received a copy of the GNU General Public License     *
    00025  *   along with this program; if not, write to the                         *
    00026  *   Free Software Foundation, Inc.,                                       *
    00027  *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
    00028  *                                                                         *
    00029  *   $Log: caterpillar.h,v $
    00030  *   Revision 1.5  2007/02/12 13:28:38  martius
    00031  *   twoaxiservos
    00032  *
    00033  *   Revision 1.4  2007/01/26 12:05:04  martius
    00034  *   servos combinied into OneAxisServo
    00035  *
    00036  *   Revision 1.3  2006/07/20 17:19:44  martius
    00037  *   removed using namespace std from matrix.h
    00038  *
    00039  *   Revision 1.2  2006/07/14 12:23:39  martius
    00040  *   selforg becomes HEAD
    00041  *
    00042  *   Revision 1.1.2.3  2006/05/09 08:46:47  robot3
    00043  *   getSensors() and getMotors() modified
    00044  *
    00045  *   Revision 1.1.2.2  2006/04/11 13:27:00  robot3
    00046  *   caterpillar is using now methods from schlangeservo2
    00047  *
    00048  *   Revision 1.1.2.1  2006/04/11 08:07:43  robot3
    00049  *   first version
    00050  *
    00051  *                                                                         *
    00052  ***************************************************************************/
    00053 #ifndef __CATERPILLAR_H
    00054 #define __CATERPILLAR_H
    00055
    00056 #include "defaultCaterpillar.h"
    00057 #include "twoaxisservo.h"
    00058 #include "oneaxisservo.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 CaterPillar : public DefaultCaterPillar
    00068     {
    00069   private:
    00070     std::vector <UniversalServo*> universalServos;
    00071     std::vector <SliderServo*> sliderServos;
    00072
    00073   public:
    00074       CaterPillar ( const OdeHandle& odeHandle, const OsgHandle& osgHandle,
    00075                       const CaterPillarConf& conf, const std::string& name);
    00076
    00077       virtual ~CaterPillar();
    00078
    00079     /**
    00080      *Reads the actual motor commands from an array,
    00081      *an sets all motors of the snake to this values.
    00082      *It is an linear allocation.
    00083      *@param motors pointer to the array, motor values are scaled to [-1,1]
    00084      *@param motornumber length of the motor array
    00085      **/
    00086     virtual void setMotors ( const motor* motors, int motornumber );
    00087
    00088     /**
    00089      *Writes the sensor values to an array in the memory.
    00090      *@param sensors pointer to the array
    00091      *@param sensornumber length of the sensor array
    00092      *@return number of actually written sensors
    00093      **/
    00094     virtual int getSensors ( sensor* sensors, int sensornumber );
    00095
    00096     /** returns number of sensors
    00097      */
    00098     virtual int getSensorNumber() { assert(created); return 2*universalServos.size()+sliderServos.size(); }
    00099
    00100     /** returns number of motors
    00101      */
    00102     virtual int getMotorNumber(){ assert(created); return 2*universalServos.size()+sliderServos.size(); }
    00103
    00104     virtual bool setParam(const paramkey& key, paramval val);
    00105
    00106   private:
    00107     virtual void create(const osg::Matrix& pose);
    00108     virtual void destroy();
    00109   };
    00110
    00111 }
    00112
    00113 #endif