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# schlange.h

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    00001 /************************************************************************/
    00002 /* schlange.h                                                           */
    00003 /* Abstract class for Snakes                                            */
    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  *                                                                         *
    00013  *   This program is free software; you can redistribute it and/or modify  *
    00014  *   it under the terms of the GNU General Public License as published by  *
    00015  *   the Free Software Foundation; either version 2 of the License, or     *
    00016  *   (at your option) any later version.                                   *
    00017  *                                                                         *
    00018  *   This program is distributed in the hope that it will be useful,       *
    00019  *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
    00020  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
    00021  *   GNU General Public License for more details.                          *
    00022  *                                                                         *
    00023  *   You should have received a copy of the GNU General Public License     *
    00024  *   along with this program; if not, write to the                         *
    00025  *   Free Software Foundation, Inc.,                                       *
    00026  *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
    00027  *                                                                         *
    00028  *   $Log: schlange.h,v $
    00029  *   Revision 1.24  2009/05/11 15:44:30  martius
    00030  *   new velocity servos used
    00031  *
    00032  *   Revision 1.23  2007/11/07 13:21:16  martius
    00033  *   doInternal stuff changed signature
    00034  *
    00035  *   Revision 1.22  2007/07/03 13:05:23  martius
    00036  *   new servo constants
    00037  *
    00038  *   Revision 1.21  2007/01/26 12:05:04  martius
    00039  *   servos combinied into OneAxisServo
    00040  *
    00041  *   Revision 1.20  2006/12/21 11:43:05  martius
    00042  *   commenting style for doxygen //< -> ///<
    00043  *   new sensors for spherical robots
    00044  *
    00045  *   Revision 1.19  2006/09/20 12:56:16  martius
    00046  *   Snakes have CreateSegment
    00047  *
    00048  *   Revision 1.18  2006/07/20 17:19:44  martius
    00049  *   removed using namespace std from matrix.h
    00050  *
    00051  *   Revision 1.17  2006/07/14 13:52:01  der
    00052  *   setheadcolor
    00053  *
    00054  *   Revision 1.15.4.9  2006/06/25 16:57:15  martius
    00055  *   abstractrobot is configureable
    00056  *   name and revision
    00057  *
    00058  *   Revision 1.15.4.8  2006/05/19 09:04:38  der
    00059  *   -setTexture and setHeadTexture added
    00060  *   -uses now whitemetal texture
    00061  *
    00062  *   Revision 1.15.4.7  2006/03/30 12:34:56  martius
    00063  *   documentation updated
    00064  *
    00065  *   Revision 1.15.4.6  2006/03/29 15:08:54  martius
    00066  *   getMainPrimitive is public now
    00067  *
    00068  *   Revision 1.15.4.5  2006/02/23 18:05:04  martius
    00069  *   friction with angularmotor
    00070  *
    00071  *   Revision 1.15.4.4  2006/02/01 18:33:40  martius
    00072  *   use Axis type for Joint axis. very important, since otherwise Vec3 * pose is not the right direction vector anymore
    00073  *
    00074  *   Revision 1.15.4.3  2005/12/30 22:53:13  martius
    00075  *   removed parentspace!
    00076  *
    00077  *   Revision 1.15.4.2  2005/12/29 16:45:46  martius
    00078  *   does not inherit from Roboter
    00079  *   moved to osg
    00080  *
    00081  *
    00082  *                                                                 *
    00083  ***************************************************************************/
    00084 #ifndef __SCHLANGE_H
    00085 #define __SCHLANGE_H
    00086
    00087 #include<vector>
    00088 #include<assert.h>
    00089
    00090 #include "primitive.h"
    00091 #include "joint.h"
    00092 #include "angularmotor.h"
    00093 #include "pid.h"
    00094
    00095 #include "oderobot.h"
    00096 #include <selforg/configurable.h>
    00097
    00098 namespace lpzrobots {
    00099
    00100 typedef struct {
    00101 public:
    00102   int    segmNumber;  ///<  number of snake elements
    00103   double segmLength;  ///< length of one snake element
    00104   double segmDia;     ///<  diameter of a snake element
    00105   double segmMass;    ///<  mass of one snake element
    00106   double motorPower;  ///<  power of the motors / servos
    00107   double sensorFactor;    ///<  scale for sensors
    00108   double frictionGround;  ///< friction with ground
    00109   double frictionJoint;   ///< friction within joint
    00110   double jointLimit;      ///< maximal angle for the joints (M_PI/2 = 90 degree)
    00111   bool   useServoVel;     ///< if true the new Servos are used (only for schlangeservo)
    00112   double velocity;        ///< maximal velocity of servos
    00113 } SchlangeConf;
    00114
    00115
    00116 /**
    00117  * This is a class, which models a snake like robot.
    00118  * It consists of a number of equal elements, each linked
    00119  * by a joint
    00120  **/
    00121 class Schlange: public OdeRobot
    00122 {
    00123 protected:
    00124
    00125   bool created;
    00126
    00127   std::vector <Primitive*> objects;
    00128   std::vector <Joint*> joints;
    00129   std::vector <AngularMotor*> frictionmotors;
    00130   SchlangeConf conf;
    00131
    00132 public:
    00133   Schlange ( const OdeHandle& odeHandle, const OsgHandle& osgHandle,
    00134              const SchlangeConf& conf, const std::string& name, const std::string& revision);
    00135
    00136   static SchlangeConf getDefaultConf(){
    00137     SchlangeConf conf;
    00138     conf.segmNumber = 10;    //  number of snake elements
    00139     conf.segmLength = 0.8;   // length of one snake element
    00140     conf.segmDia    = 0.2;   //  diameter of a snake element
    00141     conf.segmMass   = 0.1;//0.4   //  mass of one snake element
    00142     conf.motorPower = 1;    //  power of the servos
    00143     conf.sensorFactor = 1;    //  scale for sensors
    00144     conf.frictionGround = 1.0; // friction with ground
    00145     conf.frictionJoint = 0.02; // friction within joint
    00146     conf.jointLimit =  M_PI/4;
    00147     conf.useServoVel = false;
    00148     conf.velocity    = 20;     // maximal velocity of servos
    00149     return conf;
    00150   }
    00151
    00152   virtual ~Schlange();
    00153
    00154
    00155   /** sets the pose of the vehicle
    00156       @param pose desired 4x4 pose matrix
    00157   */
    00158   virtual void place(const osg::Matrix& pose);
    00159
    00160   /// update all primitives and joints
    00161   virtual void update();
    00162
    00163   /**
    00164    *This is the collision handling function for snake robots.
    00165    *This overwrides the function collisionCallback of the class robot.
    00166    *@param data
    00167    *@param o1 first geometrical object, which has taken part in the collision
    00168    *@param o2 second geometrical object, which has taken part in the collision
    00169    *@return true if the collision was threated  by the robot, false if not
    00170    **/
    00171   virtual bool collisionCallback(void *data, dGeomID o1, dGeomID o2);
    00172
    00173   static void mycallback(void *data, dGeomID o1, dGeomID o2);
    00174
    00175   virtual void doInternalStuff(GlobalData& global);
    00176
    00177   /**
    00178    *Reads the actual motor commands from an array,
    00179    *an sets all motors of the snake to this values.
    00180    *It is an linear allocation.
    00181    *@param motors pointer to the array, motor values are scaled to [-1,1]
    00182    *@param motornumber length of the motor array
    00183    **/
    00184   virtual void setMotors ( const motor* motors, int motornumber ) = 0;
    00185
    00186   /**
    00187    *Writes the sensor values to an array in the memory.
    00188    *@param sensors pointer to the array
    00189    *@param sensornumber length of the sensor array
    00190    *@return number of actually written sensors
    00191    **/
    00192   virtual int getSensors ( sensor* sensors, int sensornumber ) = 0;
    00193
    00194   /** returns number of sensors
    00195    */
    00196   virtual int getSensorNumber() = 0;
    00197
    00198   /** returns number of motors
    00199    */
    00200   virtual int getMotorNumber() = 0;
    00201
    00202   /** returns a vector with the positions of all segments of the robot
    00203       @param poslist vector of positions (of all robot segments)
    00204       @return length of the list
    00205   */
    00206   virtual int getSegmentsPosition(std::vector<Position> &poslist);
    00207
    00208
    00209   /** The list of all parameters with there value as allocated lists.
    00210   */
    00211   virtual paramlist getParamList() const;
    00212
    00213   virtual paramval getParam(const paramkey& key) const;;
    00214
    00215   virtual bool setParam(const paramkey& key, paramval val);
    00216
    00217   /** the main object of the robot, which is used for position and speed tracking */
    00218   virtual Primitive* getMainPrimitive() const {
    00219     if(!objects.empty()){
    00220       //      int half = objects.size()/2;
    00221       //      return (objects[half]);
    00222       return (objects[0]);
    00223     }else return 0;
    00224   }
    00225
    00226   /** sets a texture to the body of the snake
    00227    * note: the head texture of the snake is set by
    00228    * this method too!
    00229    */
    00230   virtual void setTexture(const std::string& filename);
    00231
    00232   /** sets a texture to the head of the snake
    00233    */
    00234   virtual void setHeadTexture(const std::string& filename);
    00235
    00236   /**
    00237    * sets the color of the head element
    00238    */
    00239   virtual void setHeadColor(const Color& color);
    00240
    00241
    00242 protected:
    00243
    00244   /** creates vehicle at desired pose
    00245       @param pose 4x4 pose matrix
    00246   */
    00247   virtual void create(const osg::Matrix& pose);
    00248   /**
    00249      creates and initialised the segment with the given index
    00250    */
    00251   virtual Primitive* createSegment(int index);
    00252   virtual void destroy();
    00253 };
    00254
    00255 }
    00256
    00257 #endif