Robot Simulator of the Robotics Group for Self-Organization of Control: sphererobot3masses.h Source File

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# sphererobot3masses.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  ***************************************************************************
    00023  *                                                                         *
    00024  * Spherical Robot inspired by Julius Popp.                                *
    00025  *                                                                         *
    00026  *   $Log: sphererobot3masses.h,v $
    00027  *   Revision 1.17  2009/08/10 07:48:55  guettler
    00028  *   removed typedef to avoid compiler warnings
    00029  *
    00030  *   Revision 1.16  2008/05/07 16:45:52  martius
    00031  *   code cosmetics and documentation
    00032  *
    00033  *   Revision 1.15  2007/11/07 13:21:16  martius
    00034  *   doInternal stuff changed signature
    00035  *
    00036  *   Revision 1.14  2007/09/06 18:48:00  martius
    00037  *   createNewSimpleSpace used
    00038  *
    00039  *   Revision 1.13  2007/08/24 11:57:30  martius
    00040  *   additional sensors can be before or after motor and ir sensors
    00041  *
    00042  *   Revision 1.12  2007/07/31 08:25:11  martius
    00043  *   added comments
    00044  *
    00045  *   Revision 1.11  2007/04/03 16:27:06  der
    00046  *   new IR shape
    00047  *
    00048  *   Revision 1.10  2007/01/26 12:05:05  martius
    00049  *   servos combinied into OneAxisServo
    00050  *
    00051  *   Revision 1.9  2006/12/21 11:43:05  martius
    00052  *   commenting style for doxygen //< -> ///<
    00053  *   new sensors for spherical robots
    00054  *
    00055  *   Revision 1.8  2006/12/01 16:20:40  martius
    00056  *   *** empty log message ***
    00057  *
    00058  *   Revision 1.7  2006/11/17 13:44:43  martius
    00059  *   corrected z-axes sensor problem
    00060  *   there are two sensors for this situation
    00061  *
    00062  *   Revision 1.6  2006/09/21 22:09:58  martius
    00063  *   collision for mesh
    00064  *
    00065  *   Revision 1.5  2006/09/21 16:17:18  der
    00066  *   *** empty log message ***
    00067  *
    00068  *   Revision 1.4  2006/08/04 15:07:27  martius
    00069  *   documentation
    00070  *
    00071  *   Revision 1.3  2006/07/20 17:19:45  martius
    00072  *   removed using namespace std from matrix.h
    00073  *
    00074  *   Revision 1.2  2006/07/14 12:23:42  martius
    00075  *   selforg becomes HEAD
    00076  *
    00077  *   Revision 1.1.2.4  2006/06/25 16:57:17  martius
    00078  *   abstractrobot is configureable
    00079  *   name and revision
    00080  *
    00081  *   Revision 1.1.2.3  2006/03/30 12:34:57  martius
    00082  *   documentation updated
    00083  *
    00084  *   Revision 1.1.2.2  2006/01/10 17:15:44  martius
    00085  *   removed wrong comment
    00086  *
    00087  *   Revision 1.1.2.1  2006/01/10 17:15:16  martius
    00088  *   was sphererobotarms
    00089  *   moved to osg
    00090  *
    00091  *   Revision 1.10.4.3  2005/11/16 11:26:53  martius
    00092  *   moved to selforg
    00093  *
    00094  *   Revision 1.10.4.2  2005/11/15 12:29:27  martius
    00095  *   new selforg structure and OdeAgent, OdeRobot ...
    00096  *
    00097  *   Revision 1.10.4.1  2005/11/14 17:37:18  martius
    00098  *   moved to selforg
    00099  *
    00100  *   Revision 1.10  2005/11/09 13:27:07  martius
    00101  *   irsensorrange
    00102  *
    00103  *   Revision 1.9  2005/11/07 17:04:56  martius
    00104  *   irsensorscale added
    00105  *
    00106  *   Revision 1.8  2005/11/04 14:45:18  martius
    00107  *   GPL added
    00108  *
    00109  *                                                                 *
    00110  ***************************************************************************/
    00111
    00112 #ifndef __SPHEREROBOT3MASSES_H
    00113 #define __SPHEREROBOT3MASSES_H
    00114
    00115 #include "primitive.h"
    00116 #include "joint.h"
    00117 #include "oneaxisservo.h"
    00118 #include "oderobot.h"
    00119 #include "sensor.h"
    00120 #include "raysensorbank.h"
    00121
    00122 namespace lpzrobots {
    00123
    00124   /// configuration object for the Sphererobot3Masses robot.
    00125 typedef struct {
    00126 public:
    00127   double diameter;
    00128   double spheremass;
    00129   double pendulardiameter; ///< automatically set
    00130   double pendularmass;
    00131   double motorpowerfactor; ///< power factor for servos w.r.t. pendularmass
    00132   double pendularrange;    ///< fraction of the diameter the pendular masses can move to one side
    00133   bool motorsensor;        ///< motor values as sensors
    00134   bool irAxis1;
    00135   bool irAxis2;
    00136   bool irAxis3;
    00137   bool irRing;            ///< IR sensors in a ring in x,z plane (collides with irAxis1 and irAxis3)
    00138   bool irSide;            ///< 4 IR senors to both side in y direction (collides with irAxis2)
    00139   bool drawIRs;
    00140   double irsensorscale; ///< range of the ir sensors in units of diameter
    00141   double irCharacter;   ///< characteristics of sensor (\f[ x^c \f] where x is the range-distance)
    00142   RaySensor* irSensorTempl;  ///< template for creation of the other ir sensors (if 0 then IRSensor(irCharacter))
    00143   double motor_ir_before_sensors; ///< if true motor sensors and ir sensors are given before additional sensors
    00144   double brake;         ///< if nonzero the robot brakes (deaccelerates actively/magically)
    00145
    00146   /// function that deletes sensors
    00147   void destroy();
    00148   /// list of sensors that are mounted at the robot. (e.g.\ AxisOrientationSensor)
    00149   std::list<Sensor*> sensors;
    00150   /// adds a sensor to the list of sensors
    00151   void addSensor(Sensor* s) { sensors.push_back(s); }
    00152 } Sphererobot3MassesConf;
    00153
    00154 /**
    00155    A spherical robot with 3 internal masses, which can slide on their orthogonal axes.
    00156    This robot was inspired by Julius Popp (http://sphericalrobots.com)
    00157 */
    00158 class Sphererobot3Masses : public OdeRobot
    00159 {
    00160 public:
    00161   /// enum for the objects of the robot
    00162   /* typedef */ enum objects { Base, Pendular1, Pendular2, Pendular3, Last } ;
    00163
    00164 protected:
    00165   static const int servono=3;
    00166   unsigned int numberaxis;
    00167
    00168   Primitive* object[Last];
    00169   SliderServo* servo[servono];
    00170   SliderJoint* joint[servono];
    00171   OSGPrimitive* axis[servono];
    00172
    00173   Sphererobot3MassesConf conf;
    00174   RaySensorBank irSensorBank; ///< a collection of ir sensors
    00175   double transparency;
    00176   bool created;
    00177
    00178 public:
    00179
    00180   /**
    00181    *constructor
    00182    **/
    00183   Sphererobot3Masses ( const OdeHandle& odeHandle, const OsgHandle& osgHandle,
    00184                        const Sphererobot3MassesConf& conf, const std::string& name, double transparency=0.5 );
    00185
    00186 protected:
    00187   /**
    00188    *constructor for children
    00189    **/
    00190   Sphererobot3Masses ( const OdeHandle& odeHandle, const OsgHandle& osgHandle,
    00191                        const Sphererobot3MassesConf& conf,
    00192                        const std::string& name, const std::string& revision, double transparency);
    00193   /// initialises some internal variables
    00194   void init();
    00195 public:
    00196   virtual ~Sphererobot3Masses();
    00197
    00198
    00199   /// default configuration
    00200   static Sphererobot3MassesConf getDefaultConf(){
    00201     Sphererobot3MassesConf c;
    00202     c.diameter     = 1;
    00203     c.spheremass   = .3;// 0.1
    00204     c.pendularmass  = 1.0;
    00205     c.pendularrange  = 0.20; // range of the slider from center in multiple of diameter [-range,range]
    00206     c.motorpowerfactor  = 100;
    00207     c.motorsensor = true;
    00208     c.irAxis1=false;
    00209     c.irAxis2=false;
    00210     c.irAxis3=false;
    00211     c.irRing=false;
    00212     c.irSide=false;
    00213     c.drawIRs=true;
    00214     c.irsensorscale=1.5;
    00215     c.irCharacter=1;
    00216     c.irSensorTempl=0;
    00217     c.motor_ir_before_sensors=false;
    00218     c.brake=0;
    00219    return c;
    00220   }
    00221
    00222   virtual void update();
    00223
    00224   virtual void place(const osg::Matrix& pose);
    00225
    00226   virtual void doInternalStuff(GlobalData& globalData);
    00227
    00228   virtual int getSensors ( sensor* sensors, int sensornumber );
    00229
    00230   virtual void setMotors ( const motor* motors, int motornumber );
    00231
    00232   virtual int getMotorNumber();
    00233
    00234   virtual int getSensorNumber();
    00235
    00236   virtual Primitive* getMainPrimitive() const { return object[Base]; }
    00237
    00238 protected:
    00239
    00240   virtual void create(const osg::Matrix& pose);
    00241   virtual void destroy();
    00242
    00243
    00244 };
    00245
    00246 }
    00247
    00248 #endif