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# schlangevelocity.h

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    00001 /************************************************************************/
    00002 /*schlangevelocity.h                                                    */
    00003 /*Snake with powered by setting angular velocities                      */
    00004 /*                                                                      */
    00005 /************************************************************************/
    00006 /***************************************************************************
    00007  *   Copyright (C) 2005 by Robot Group Leipzig                             *
    00008  *    martius@informatik.uni-leipzig.de                                    *
    00009  *    fhesse@informatik.uni-leipzig.de                                     *
    00010  *    der@informatik.uni-leipzig.de                                        *
    00011  *                                                                         *
    00012  *   This program is free software; you can redistribute it and/or modify  *
    00013  *   it under the terms of the GNU General Public License as published by  *
    00014  *   the Free Software Foundation; either version 2 of the License, or     *
    00015  *   (at your option) any later version.                                   *
    00016  *                                                                         *
    00017  *   This program is distributed in the hope that it will be useful,       *
    00018  *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
    00019  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
    00020  *   GNU General Public License for more details.                          *
    00021  *                                                                         *
    00022  *   You should have received a copy of the GNU General Public License     *
    00023  *   along with this program; if not, write to the                         *
    00024  *   Free Software Foundation, Inc.,                                       *
    00025  *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
    00026  *                                                                         *
    00027  *   $Log: schlangevelocity.h,v $
    00028  *   Revision 1.3  2007/01/26 12:05:04  martius
    00029  *   servos combinied into OneAxisServo
    00030  *
    00031  *   Revision 1.2  2006/07/14 12:23:42  martius
    00032  *   selforg becomes HEAD
    00033  *
    00034  *   Revision 1.1.2.4  2006/06/25 16:57:16  martius
    00035  *   abstractrobot is configureable
    00036  *   name and revision
    00037  *
    00038  *   Revision 1.1.2.3  2006/03/30 12:34:57  martius
    00039  *   documentation updated
    00040  *
    00041  *   Revision 1.1.2.2  2006/02/01 18:33:40  martius
    00042  *   use Axis type for Joint axis. very important, since otherwise Vec3 * pose is not the right direction vector anymore
    00043  *
    00044  *   Revision 1.1.2.1  2006/01/10 13:55:12  fhesse
    00045  *   snake powered by directly setting angular velocities
    00046  *                                             *
    00047  *                                                                         *
    00048  *                                                                         *
    00049  ***************************************************************************/
    00050 #ifndef __SCHLANGEVELOCITY_H
    00051 #define __SCHLANGEVELOCITY_H
    00052
    00053 #include "schlange.h"
    00054
    00055 namespace lpzrobots {
    00056
    00057   /**
    00058    * This is a class, which models a snake like robot.
    00059    * It consists of a number of equal elements, each linked
    00060    * by a joint powered by directly setting the angular velocities of the joints
    00061    **/
    00062   class SchlangeVelocity: public Schlange
    00063     {
    00064     private:
    00065       paramval factor_motors;
    00066       paramval factor_sensors;
    00067       paramval friction_joint;
    00068
    00069
    00070     public:
    00071       SchlangeVelocity ( const OdeHandle& odeHandle, const OsgHandle& osgHandle,
    00072                       const SchlangeConf& conf, const std::string& name);
    00073
    00074       static SchlangeConf getDefaultConf(){
    00075         SchlangeConf conf;
    00076         conf.segmNumber = 10;      //  number of snake elements
    00077         conf.segmLength = 0.8;     // length of one snake element
    00078         conf.segmDia    = 0.2;     //  diameter of a snake element
    00079         conf.segmMass   = 0.4;     //  mass of one snake element
    00080         conf.motorPower = 0.3;     //  power of motors
    00081         conf.frictionGround = 0.1; // friction with ground
    00082         conf.jointLimit =  M_PI/4;
    00083         return conf;
    00084       }
    00085
    00086       virtual ~SchlangeVelocity();
    00087
    00088       /**
    00089        *Reads the actual motor commands from an array,
    00090        *an sets all motors of the snake to this values.
    00091        *It is an linear allocation.
    00092        *@param motors pointer to the array, motor values are scaled to [-1,1]
    00093        *@param motornumber length of the motor array
    00094        **/
    00095       virtual void setMotors ( const motor* motors, int motornumber );
    00096
    00097       /**
    00098        *Writes the sensor values to an array in the memory.
    00099        *@param sensors pointer to the array
    00100        *@param sensornumber length of the sensor array
    00101        *@return number of actually written sensors
    00102        **/
    00103       virtual int getSensors ( sensor* sensors, int sensornumber );
    00104
    00105       /** returns number of sensors
    00106        */
    00107       virtual int getSensorNumber() { assert(created); return joints.size() * 2; }
    00108
    00109       /** returns number of motors
    00110        */
    00111       virtual int getMotorNumber(){ assert(created); return joints.size() * 2; }
    00112
    00113     private:
    00114       virtual void create(const osg::Matrix& pose);
    00115       virtual void destroy();
    00116     };
    00117
    00118 }
    00119
    00120 #endif