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

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

- Search for |

- File List
- File Members

# wheelie.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  *    frankguettler@gmx.de                                                 *
    00007  *                                                                         *
    00008  *   This program is free software; you can redistribute it and/or modify  *
    00009  *   it under the terms of the GNU General Public License as published by  *
    00010  *   the Free Software Foundation; either version 2 of the License, or     *
    00011  *   (at your option) any later version.                                   *
    00012  *                                                                         *
    00013  *   This program is distributed in the hope that it will be useful,       *
    00014  *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
    00015  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
    00016  *   GNU General Public License for more details.                          *
    00017  *                                                                         *
    00018  *   You should have received a copy of the GNU General Public License     *
    00019  *   along with this program; if not, write to the                         *
    00020  *   Free Software Foundation, Inc.,                                       *
    00021  *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
    00022  *                                                                         *
    00023  *   $Log: wheelie.h,v $
    00024  *   Revision 1.4  2007/01/26 12:05:05  martius
    00025  *   servos combinied into OneAxisServo
    00026  *
    00027  *   Revision 1.3  2006/07/20 17:19:45  martius
    00028  *   removed using namespace std from matrix.h
    00029  *
    00030  *   Revision 1.2  2006/07/14 12:23:43  martius
    00031  *   selforg becomes HEAD
    00032  *
    00033  *   Revision 1.1.2.3  2006/06/25 16:57:17  martius
    00034  *   abstractrobot is configureable
    00035  *   name and revision
    00036  *
    00037  *   Revision 1.1.2.2  2006/06/20 07:18:29  robot3
    00038  *   -added cvs log
    00039  *   -changed some behaviour of wheelie
    00040  *
    00041  *                                                                         *
    00042  ***************************************************************************/
    00043 #ifndef __WHEELIE_H
    00044 #define __WHEELIE_H
    00045
    00046 #include "defaultWheelie.h"
    00047 #include "oneaxisservo.h"
    00048
    00049 namespace lpzrobots {
    00050
    00051   /**
    00052    * This is a class, which models an annular robot.
    00053    * It consists of a number of equal elements, each linked
    00054    * by a joint powered by 1 servo
    00055    **/
    00056   class Wheelie : public DefaultWheelie
    00057   {
    00058   private:
    00059     std::vector <HingeServo*> hingeServos;
    00060
    00061   public:
    00062     Wheelie(const OdeHandle& odeHandle, const OsgHandle& osgHandle,
    00063             const WheelieConf& conf, const std::string& name);
    00064
    00065     virtual ~Wheelie();
    00066
    00067     /**
    00068      *Reads the actual motor commands from an array,
    00069      *an sets all motors of the snake to this values.
    00070      *It is an linear allocation.
    00071      *@param motors pointer to the array, motor values are scaled to [-1,1]
    00072      *@param motornumber length of the motor array
    00073      **/
    00074     virtual void setMotors ( const motor* motors, int motornumber );
    00075
    00076     /**
    00077      *Writes the sensor values to an array in the memory.
    00078      *@param sensors pointer to the array
    00079      *@param sensornumber length of the sensor array
    00080      *@return number of actually written sensors
    00081      **/
    00082     virtual int getSensors ( sensor* sensors, int sensornumber );
    00083
    00084     /** returns number of sensors
    00085      */
    00086     virtual int getSensorNumber() { assert(created); return hingeServos.size(); }
    00087
    00088     /** returns number of motors
    00089      */
    00090     virtual int getMotorNumber(){ assert(created); return hingeServos.size(); }
    00091
    00092     virtual bool setParam(const paramkey& key, paramval val);
    00093
    00094   private:
    00095     virtual void create(const osg::Matrix& pose);
    00096     virtual void destroy();
    00097   };
    00098
    00099 }
    00100
    00101 #endif