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# schlangeservo.h

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    00001 /************************************************************************/
    00002 /*schlangeservo.h                                                       */
    00003 /*Snake with PID Servo motors (just motor per joint)                    */
    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: schlangeservo.h,v $
    00029  *   Revision 1.5.4.6  2006/03/30 12:34:56  martius
    00030  *   documentation updated
    00031  *
    00032  *   Revision 1.5.4.5  2006/02/01 18:33:40  martius
    00033  *   use Axis type for Joint axis. very important, since otherwise Vec3 * pose is not the right direction vector anymore
    00034  *
    00035  *   Revision 1.5.4.4  2005/12/29 16:46:24  martius
    00036  *   inherits from Schlange
    00037  *   moved to osg
    00038  *
    00039  *   Revision 1.5.4.3  2005/11/16 11:26:53  martius
    00040  *   moved to selforg
    00041  *
    00042  *   Revision 1.5.4.2  2005/11/15 12:29:27  martius
    00043  *   new selforg structure and OdeAgent, OdeRobot ...
    00044  *
    00045  *   Revision 1.5.4.1  2005/11/14 17:37:18  martius
    00046  *   moved to selforg
    00047  *
    00048  *   Revision 1.5  2005/11/09 13:24:42  martius
    00049  *   added GPL
    00050  *
    00051  *                                                                 *
    00052  ***************************************************************************/
    00053 #ifndef __SCHLANGESERVO_H
    00054 #define __SCHLANGESERVO_H
    00055
    00056
    00057 #include "schlange.h"
    00058 #include "hingeservo.h"
    00059
    00060 namespace lpzrobots {
    00061
    00062   /**
    00063    * This is a class, which models a snake like robot.
    00064    * It consists of a number of equal elements, each linked
    00065    * by a joint hinge powered by 1 servos
    00066    **/
    00067   class SchlangeServo: public Schlange
    00068   {
    00069   private:
    00070     vector <HingeServo*> servos;
    00071
    00072   public:
    00073     SchlangeServo ( const OdeHandle& odeHandle, const OsgHandle& osgHandle,
    00074                     const SchlangeConf& conf, const char* name);
    00075
    00076
    00077     virtual ~SchlangeServo();
    00078
    00079     /**
    00080      *Reads the actual motor commands from an array,
    00081      *an sets all motors of the snake to this values.
    00082      *It is an linear allocation.
    00083      *@param motors pointer to the array, motor values are scaled to [-1,1]
    00084      *@param motornumber length of the motor array
    00085      **/
    00086     virtual void setMotors ( const motor* motors, int motornumber );
    00087
    00088     /**
    00089      *Writes the sensor values to an array in the memory.
    00090      *@param sensors pointer to the array
    00091      *@param sensornumber length of the sensor array
    00092      *@return number of actually written sensors
    00093      **/
    00094     virtual int getSensors ( sensor* sensors, int sensornumber );
    00095
    00096     /** returns number of sensors
    00097      */
    00098     virtual int getSensorNumber() { assert(created); return servos.size(); }
    00099
    00100     /** returns number of motors
    00101      */
    00102     virtual int getMotorNumber(){ assert(created); return servos.size(); }
    00103
    00104     virtual bool setParam(const paramkey& key, paramval val);
    00105
    00106   private:
    00107     virtual void create(const osg::Matrix& pose);
    00108     virtual void destroy();
    00109   };
    00110
    00111 }
    00112
    00113 #endif