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

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# odeconfig.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: odeconfig.h,v $
    00023  *   Revision 1.20  2009/08/10 14:48:34  der
    00024  *   calcDrawInterval gets a double
    00025  *
    00026  *   Revision 1.19  2009/08/05 16:13:06  martius
    00027  *   added framerate to adjust
    00028  *
    00029  *   Revision 1.18  2008/04/23 07:17:16  martius
    00030  *   makefiles cleaned
    00031  *   new also true realtime factor displayed,
    00032  *    warning if out of sync
    00033  *   drawinterval in full speed is 10 frames, independent of the speed
    00034  *
    00035  *   Revision 1.17  2007/07/30 14:13:17  martius
    00036  *   drawBoundings moved to osgHandle
    00037  *
    00038  *   Revision 1.16  2007/06/08 15:37:22  martius
    00039  *   random seed into OdeConfig -> logfiles
    00040  *
    00041  *   Revision 1.15  2007/01/25 14:09:50  martius
    00042  *   use new configurable addParameter feature
    00043  *
    00044  *   Revision 1.14  2006/08/04 15:07:46  martius
    00045  *   documentation
    00046  *
    00047  *   Revision 1.13  2006/07/14 11:57:23  martius
    00048  *   selforg becomes HEAD
    00049  *
    00050  *   Revision 1.12.4.8  2006/06/29 16:32:44  robot3
    00051  *   implementation of odeconfig moved to odeconfig.cpp
    00052  *
    00053  *   Revision 1.12.4.7  2006/05/08 12:12:36  robot3
    00054  *   changes from Revision 1.40.4.27 reverted
    00055  *
    00056  *   Revision 1.12.4.6  2006/04/27 16:17:38  robot3
    00057  *   implemented some functions for motionblurcallback
    00058  *
    00059  *   Revision 1.12.4.5  2006/03/28 09:55:12  robot3
    00060  *   -main: fixed snake explosion bug
    00061  *   -odeconfig.h: inserted cameraspeed
    00062  *   -camermanipulator.cpp: fixed setbyMatrix,
    00063  *    updateFactor
    00064  *
    00065  *   Revision 1.12.4.4  2006/02/08 16:14:28  martius
    00066  *   no namespace using
    00067  *
    00068  *   Revision 1.12.4.3  2006/01/10 15:08:15  martius
    00069  *   controlinterval is 1 by default
    00070  *
    00071  *   Revision 1.12.4.2  2005/12/06 10:13:23  martius
    00072  *   openscenegraph integration started
    00073  *
    00074  *   Revision 1.12.4.1  2005/11/14 17:37:00  martius
    00075  *   changed makefile structure to have and include directory
    00076  *   mode to selforg
    00077  *
    00078  *   Revision 1.12  2005/11/09 13:29:19  martius
    00079  *   GPL'ised
    00080  *
    00081  ***************************************************************************/
    00082 #ifndef __ODECONFIG_H
    00083 #define __ODECONFIG_H
    00084
    00085 #include <selforg/configurable.h>
    00086 #include "odehandle.h"
    00087
    00088 namespace lpzrobots {
    00089
    00090   /**
    00091      The class $name holds the configurable parameters of the simulation environment.
    00092   */
    00093   class OdeConfig : public Configurable {
    00094   public:
    00095
    00096     // creates new instance of OdeConfig with default values
    00097     OdeConfig();
    00098
    00099     virtual ~OdeConfig() {}
    00100
    00101     virtual paramlist getParamList() const;
    00102
    00103     virtual paramval getParam(const paramkey& key) const;
    00104
    00105     virtual bool setParam(const paramkey& key, paramval val);
    00106
    00107     virtual void setOdeHandle(const OdeHandle& odeHandle);
    00108
    00109     virtual void setVideoRecordingMode(bool mode);
    00110
    00111     virtual void calcAndSetDrawInterval(double Hz, double rtf);
    00112
    00113   private:
    00114     /// calculates the draw interval with simStepSize and realTimeFactor so that we have the Hz frames/sec
    00115     int calcDrawInterval(double Hz, double rtf);
    00116
    00117   public:
    00118     bool videoRecordingMode;
    00119     double simStepSize;
    00120     double motionPersistence;
    00121     int drawInterval;
    00122     int controlInterval;
    00123     double noise;
    00124     double gravity;
    00125     double cameraSpeed;
    00126     long randomSeed;
    00127     OdeHandle odeHandle;
    00128
    00129     double realTimeFactor;
    00130     double fps;
    00131   };
    00132
    00133 }
    00134
    00135 #endif