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# sphererobot.h

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    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: sphererobot.h,v $
    00023  *   Revision 1.15  2009/08/10 07:48:55  guettler
    00024  *   removed typedef to avoid compiler warnings
    00025  *
    00026  *   Revision 1.14  2007/11/07 13:21:16  martius
    00027  *   doInternal stuff changed signature
    00028  *
    00029  *   Revision 1.13  2007/01/26 12:05:05  martius
    00030  *   servos combinied into OneAxisServo
    00031  *
    00032  *   Revision 1.12  2006/08/04 15:07:27  martius
    00033  *   documentation
    00034  *
    00035  *   Revision 1.11  2006/07/20 17:19:45  martius
    00036  *   removed using namespace std from matrix.h
    00037  *
    00038  *   Revision 1.10  2006/07/14 12:23:42  martius
    00039  *   selforg becomes HEAD
    00040  *
    00041  *   Revision 1.9.4.7  2006/06/25 16:57:16  martius
    00042  *   abstractrobot is configureable
    00043  *   name and revision
    00044  *
    00045  *   Revision 1.9.4.6  2006/03/30 12:34:57  martius
    00046  *   documentation updated
    00047  *
    00048  *   Revision 1.9.4.5  2006/01/10 15:10:24  martius
    00049  *   fine tuning, fuer controllinterval 1
    00050  *   still not transparent
    00051  *
    00052  *   Revision 1.9.4.4  2005/12/30 22:51:45  martius
    00053  *   moved to osg
    00054  *
    00055  *   Revision 1.9.4.3  2005/11/16 11:26:53  martius
    00056  *   moved to selforg
    00057  *
    00058  *   Revision 1.9.4.2  2005/11/15 12:29:27  martius
    00059  *   new selforg structure and OdeAgent, OdeRobot ...
    00060  *
    00061  *   Revision 1.9.4.1  2005/11/14 17:37:18  martius
    00062  *   moved to selforg
    00063  *
    00064  *   Revision 1.9  2005/11/09 13:24:42  martius
    00065  *   added GPL
    00066  *
    00067  *                                                                 *
    00068  ***************************************************************************/
    00069
    00070 #ifndef __SPHEREROBOT_H
    00071 #define __SPHEREROBOT_H
    00072
    00073 #include "oderobot.h"
    00074 #include "oneaxisservo.h"
    00075
    00076 namespace lpzrobots {
    00077
    00078   class Primitive;
    00079   class Joint;
    00080   class SliderJoint;
    00081
    00082   typedef struct {
    00083   public:
    00084     double diameter;
    00085     double spheremass;
    00086     double pendulardiameter;
    00087     double pendularmass;
    00088     double slidermass;
    00089     double sliderrange;
    00090
    00091     double force;      // forcefactor of the servo power (1 is usual)
    00092     double hingeRange; //the angle (in rad) of the hinges that connect pendular with poles
    00093   } SphererobotConf;
    00094
    00095
    00096   /**
    00097    *This is a class, which models a snake like robot. It consists of a number of equal elements, each linked
    00098    *by a joint. This class is based upon the class roboter by the same author.
    00099    *@author Marcel Kretschmann
    00100    *@version beta
    00101    **/
    00102   class Sphererobot : public OdeRobot
    00103   {
    00104   public:
    00105     /* typedef */ enum objects { Base, Pendular, Pole1Bot, Pole2Bot, Pole3Bot,
    00106                            Pole1Top , Pole2Top, Pole3Top, Last};
    00107
    00108   protected:
    00109     const static int sensorno = 9;
    00110
    00111     SphererobotConf conf;
    00112     bool created;
    00113
    00114   public:
    00115     SliderServo* servo[3];
    00116     Primitive* object[Last];
    00117     SliderJoint* slider[3];
    00118     Joint* joint[6];
    00119
    00120   public:
    00121
    00122     Sphererobot ( const OdeHandle& odeHandle, const OsgHandle& osgHandle,
    00123                   const SphererobotConf& conf, const std::string& name );
    00124
    00125     virtual ~Sphererobot();
    00126
    00127     static SphererobotConf getDefaultConf(){
    00128       SphererobotConf c;
    00129       c.diameter     = 1;
    00130       c.spheremass   = 0.2;
    00131       c.pendulardiameter = 0.2;
    00132       c.pendularmass = 1.0;
    00133       c.slidermass   = 0.005;
    00134       c.sliderrange  = 0.1; // range of the slider from center in multiple of diameter [-range,range]
    00135       c.force        = 1;
    00136       c.hingeRange   = M_PI/180*30;
    00137       return c;
    00138     }
    00139
    00140     /// update the subcomponents
    00141     virtual void update();
    00142
    00143     /** sets the pose of the vehicle
    00144         @param pose desired 4x4 pose matrix
    00145     */
    00146     virtual void place(const osg::Matrix& pose);
    00147
    00148     /**
    00149      *This is the collision handling function for snake robots.
    00150      *This overwrides the function collisionCallback of the class robot.
    00151      *@param data
    00152      *@param o1 first geometrical object, which has taken part in the collision
    00153      *@param o2 second geometrical object, which has taken part in the collision
    00154      *@return true if the collision was threated  by the robot, false if not
    00155      **/
    00156     virtual bool collisionCallback(void *data, dGeomID o1, dGeomID o2);
    00157     /** this function is called in each timestep. It should perform robot-internal checks,
    00158         like space-internal collision detection, sensor resets/update etc.
    00159         @param globalData structure that contains global data from the simulation environment
    00160     */
    00161     virtual void doInternalStuff(GlobalData& globalData);
    00162
    00163     /**
    00164      *Writes the sensor values to an array in the memory.
    00165      *@param sensors pointer to the array
    00166      *@param sensornumber length of the sensor array
    00167      *@return number of actually written sensors
    00168      **/
    00169     virtual int getSensors ( sensor* sensors, int sensornumber );
    00170
    00171     /**
    00172      *Reads the actual motor commands from an array, an sets all motors of the snake to this values.
    00173      *It is an linear allocation.
    00174      *@param motors pointer to the array, motor values are scaled to [-1,1]
    00175      *@param motornumber length of the motor array
    00176      **/
    00177     virtual void setMotors ( const motor* motors, int motornumber );
    00178
    00179     /**
    00180      *Returns the number of motors used by the snake.
    00181      *@return number of motors
    00182      **/
    00183     virtual int getMotorNumber();
    00184
    00185     /**
    00186      *Returns the number of sensors used by the robot.
    00187      *@return number of sensors
    00188      **/
    00189     virtual int getSensorNumber();
    00190
    00191     /** returns a vector with the positions of all segments of the robot
    00192     */
    00193     virtual int getSegmentsPosition(std::vector<Position> &poslist);
    00194
    00195     /** the main object of the robot, which is used for position and speed tracking */
    00196     virtual Primitive* getMainPrimitive() const { return object[Base]; }
    00197
    00198   protected:
    00199     /** creates vehicle at desired pose
    00200         @param pose 4x4 pose matrix
    00201     */
    00202     virtual void create(const osg::Matrix& pose);
    00203     virtual void destroy();
    00204
    00205
    00206
    00207   };
    00208
    00209 }
    00210
    00211 #endif