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

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# defaultWheelie.h

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    00001 /************************************************************************/
    00002 /* originally from:                                                     */
    00003 /* schlange.h                                                           */
    00004 /* Abstract class for Snakes                                            */
    00005 /* @author Georg Martius                                                */
    00006 /************************************************************************/
    00007 /* here:                                                                */
    00008 /* defaultWheelie.h                                                     */
    00009 /* Abstract class for Wheelies                                          */
    00010 /* @author Frank Guettler                                               */
    00011 /************************************************************************/
    00012 /***************************************************************************
    00013  *   Copyright (C) 2005 by Robot Group Leipzig                             *
    00014  *    martius@informatik.uni-leipzig.de                                    *
    00015  *    fhesse@informatik.uni-leipzig.de                                     *
    00016  *    der@informatik.uni-leipzig.de                                        *
    00017  *    frankguettler@gmx.de                                                 *
    00018  *                                                                         *
    00019  *   This program is free software; you can redistribute it and/or modify  *
    00020  *   it under the terms of the GNU General Public License as published by  *
    00021  *   the Free Software Foundation; either version 2 of the License, or     *
    00022  *   (at your option) any later version.                                   *
    00023  *                                                                         *
    00024  *   This program is distributed in the hope that it will be useful,       *
    00025  *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
    00026  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
    00027  *   GNU General Public License for more details.                          *
    00028  *                                                                         *
    00029  *   You should have received a copy of the GNU General Public License     *
    00030  *   along with this program; if not, write to the                         *
    00031  *   Free Software Foundation, Inc.,                                       *
    00032  *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
    00033  *                                                                         *
    00034  *   $Log: defaultWheelie.h,v $
    00035  *   Revision 1.5  2007/11/07 13:21:15  martius
    00036  *   doInternal stuff changed signature
    00037  *
    00038  *   Revision 1.4  2006/12/21 11:43:05  martius
    00039  *   commenting style for doxygen //< -> ///<
    00040  *   new sensors for spherical robots
    00041  *
    00042  *   Revision 1.3  2006/07/20 17:19:44  martius
    00043  *   removed using namespace std from matrix.h
    00044  *
    00045  *   Revision 1.2  2006/07/14 12:23:40  martius
    00046  *   selforg becomes HEAD
    00047  *
    00048  *   Revision 1.1.2.3  2006/06/25 16:57:12  martius
    00049  *   abstractrobot is configureable
    00050  *   name and revision
    00051  *
    00052  *   Revision 1.1.2.2  2006/06/20 07:18:29  robot3
    00053  *   -added cvs log
    00054  *   -changed some behaviour of wheelie
    00055  *
    00056  *                                                                         *
    00057  ***************************************************************************/
    00058 #ifndef __DEFAULTWHEELIE_H
    00059 #define __DEFAULTWHEELIE_H
    00060
    00061 #include<vector>
    00062 #include<assert.h>
    00063
    00064 #include"primitive.h"
    00065 #include "joint.h"
    00066 #include "angularmotor.h"
    00067
    00068 #include "oderobot.h"
    00069 #include <selforg/configurable.h>
    00070
    00071 namespace lpzrobots {
    00072
    00073 typedef struct {
    00074 public:
    00075   int    segmNumber;  ///<  number of snake elements
    00076   double segmLength;  ///< length of one snake element
    00077   double segmDia;     ///<  diameter of a snake element
    00078   double segmMass;    ///<  mass of one snake element
    00079   double motorPower;  ///<  power of the motors / servos
    00080   double sensorFactor;    ///<  scale for sensors
    00081   double frictionGround;  ///< friction with ground
    00082   double frictionJoint;   ///< friction within joint
    00083   double jointLimit;      ///< maximal angle for the joints (M_PI/2 = 90 degree)
    00084 } WheelieConf;
    00085
    00086
    00087 /**
    00088  * This is a class, which models a snake like robot.
    00089  * It consists of a number of equal elements, each linked
    00090  * by a joint
    00091  **/
    00092 class DefaultWheelie: public OdeRobot
    00093 {
    00094 protected:
    00095
    00096   bool created;
    00097
    00098   std::vector <Primitive*> objects;
    00099   std::vector <Joint*> joints;
    00100   std::vector <AngularMotor*> frictionmotors;
    00101   WheelieConf conf;
    00102
    00103 public:
    00104   DefaultWheelie(const OdeHandle& odeHandle, const OsgHandle& osgHandle,
    00105              const WheelieConf& conf, const std::string& name, const std::string& revision);
    00106
    00107   static WheelieConf getDefaultConf(){
    00108     WheelieConf conf;
    00109     conf.segmNumber = 8;    //  number of snake elements
    00110     conf.segmLength = 0.4;   // length of one snake element
    00111     conf.segmDia    = 0.2;   //  diameter of a snake element
    00112     conf.segmMass   = 0.4;   //  mass of one snake element
    00113     conf.motorPower = 1;    //  power of the servos
    00114     conf.sensorFactor = 1;    //  scale for sensors
    00115     conf.frictionGround = 1.0; // friction with ground
    00116     conf.frictionJoint = 0.1; // friction within joint
    00117     conf.jointLimit =  M_PI/8;
    00118     return conf;
    00119   }
    00120
    00121   virtual ~DefaultWheelie();
    00122
    00123
    00124   /** sets the pose of the vehicle
    00125       @param pose desired 4x4 pose matrix
    00126   */
    00127   virtual void place(const osg::Matrix& pose);
    00128
    00129   /// update all primitives and joints
    00130   virtual void update();
    00131
    00132   /**
    00133    *This is the collision handling function for snake robots.
    00134    *This overwrides the function collisionCallback of the class robot.
    00135    *@param data
    00136    *@param o1 first geometrical object, which has taken part in the collision
    00137    *@param o2 second geometrical object, which has taken part in the collision
    00138    *@return true if the collision was threated  by the robot, false if not
    00139    **/
    00140   virtual bool collisionCallback(void *data, dGeomID o1, dGeomID o2);
    00141
    00142   static void mycallback(void *data, dGeomID o1, dGeomID o2);
    00143
    00144   virtual void doInternalStuff(GlobalData& global);
    00145
    00146   /**
    00147    *Reads the actual motor commands from an array,
    00148    *an sets all motors of the snake to this values.
    00149    *It is an linear allocation.
    00150    *@param motors pointer to the array, motor values are scaled to [-1,1]
    00151    *@param motornumber length of the motor array
    00152    **/
    00153   virtual void setMotors ( const motor* motors, int motornumber ) = 0;
    00154
    00155   /**
    00156    *Writes the sensor values to an array in the memory.
    00157    *@param sensors pointer to the array
    00158    *@param sensornumber length of the sensor array
    00159    *@return number of actually written sensors
    00160    **/
    00161   virtual int getSensors ( sensor* sensors, int sensornumber ) = 0;
    00162
    00163   /** returns number of sensors
    00164    */
    00165   virtual int getSensorNumber() = 0;
    00166
    00167   /** returns number of motors
    00168    */
    00169   virtual int getMotorNumber() = 0;
    00170
    00171   /** returns a vector with the positions of all segments of the robot
    00172       @param poslist vector of positions (of all robot segments)
    00173       @return length of the list
    00174   */
    00175   virtual int getSegmentsPosition(std::vector<Position> &poslist);
    00176
    00177
    00178   /** The list of all parameters with there value as allocated lists.
    00179   */
    00180   virtual paramlist getParamList() const;
    00181
    00182   virtual paramval getParam(const paramkey& key) const;;
    00183
    00184   virtual bool setParam(const paramkey& key, paramval val);
    00185
    00186   /** the main object of the robot, which is used for position and speed tracking */
    00187   virtual Primitive* getMainPrimitive() const {
    00188     if(!objects.empty()){
    00189       //      int half = objects.size()/2;
    00190       //      return (objects[half]);
    00191       return (objects[0]);
    00192     }else return 0;
    00193   }
    00194 protected:
    00195
    00196   /** creates vehicle at desired pose
    00197       @param pose 4x4 pose matrix
    00198   */
    00199   virtual void create(const osg::Matrix& pose);
    00200   virtual void destroy();
    00201 };
    00202
    00203 }
    00204
    00205 #endif