Robotsystem from Robot Group Leipzig: formel1.cpp Source File

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# formel1.cpp

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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: formel1.cpp,v $
    00023  *   Revision 1.4.4.4  2006/01/12 14:47:47  martius
    00024  *   just taken from nimm4
    00025  *
    00026  *   Revision 1.4.4.3  2005/12/06 17:38:17  martius
    00027  *   *** empty log message ***
    00028  *
    00029  *   Revision 1.4.4.2  2005/11/15 12:29:26  martius
    00030  *   new selforg structure and OdeAgent, OdeRobot ...
    00031  *
    00032  *   Revision 1.4.4.1  2005/11/14 17:37:17  martius
    00033  *   moved to selforg
    00034  *
    00035  *   Revision 1.4  2005/11/09 13:24:42  martius
    00036  *   added GPL
    00037  *
    00038  ***************************************************************************/
    00039 #include <assert.h>
    00040
    00041 // include primitives (box, spheres, cylinders ...)
    00042 #include "primitive.h"
    00043
    00044 // include joints
    00045 #include "joint.h"
    00046
    00047 // include header file
    00048 #include "formel1.h"
    00049
    00050 using namespace osg;
    00051
    00052 namespace lpzrobots {
    00053
    00054   // constructor:
    00055   // - size of robot, maximal used force and speed factor are adjustable
    00056   // - sphereWheels switches between spheres or wheels as wheels
    00057   //   (wheels are only drawn, collision handling is always with spheres)
    00058   Formel1::Formel1(const OdeHandle& odeHandle, const OsgHandle& osgHandle, double size/*=1.0*/,
    00059                double force /*=3*/, double speed/*=15*/, bool sphereWheels /*=true*/)
    00060     : // calling OdeRobots construtor with name of the actual robot
    00061       OdeRobot(odeHandle, osgHandle, "Formel1")
    00062   {
    00063
    00064     // robot is not created till now
    00065     created=false;
    00066
    00067     // choose color (here the color of the "Nimm Zwei" candy is used,
    00068     // where the name of the Nimm2 and Formel1 robots comes from ;-)
    00069     this->osgHandle.color = Color(2, 156/255.0, 0, 1.0f);
    00070
    00071     // maximal used force is calculated from the forece factor and size given to the constructor
    00072     max_force   = force*size*size;
    00073
    00074     // speed and type of wheels are set
    00075     this->speed = speed;
    00076     this->sphereWheels = sphereWheels;
    00077
    00078
    00079     height=size;
    00080
    00081     length=size/2.5; // length of body
    00082     width=size/2;  // radius of body
    00083     radius=size/6; // wheel radius
    00084     wheelthickness=size/20; // thickness of the wheels (if wheels used, no spheres)
    00085     cmass=8*size;  // mass of the body
    00086     wmass=size;    // mass of the wheels
    00087     sensorno=4;    // number of sensors
    00088     motorno=4;     // number of motors
    00089     segmentsno=5;  // number of segments of the robot
    00090   };
    00091
    00092
    00093   /** sets actual motorcommands
    00094       @param motors motors scaled to [-1,1]
    00095       @param motornumber length of the motor array
    00096   */
    00097   void Formel1::setMotors(const motor* motors, int motornumber){
    00098     assert(created); // robot must exist
    00099     // the number of controlled motors is minimum of
    00100     // "number of motorcommands" (motornumber) and
    00101     // "number of motors inside the robot" (motorno)
    00102     int len = (motornumber < motorno)? motornumber : motorno;
    00103
    00104     // for each motor the motorcommand (between -1 and 1) multiplied with speed
    00105     // is set and the maximal force to realize this command are set
    00106     for (int i=0; i<len; i++){
    00107       joint[i]->setParam(dParamVel2, motors[i]*speed);
    00108       joint[i]->setParam(dParamFMax2, max_force);
    00109     }
    00110
    00111     // another possibility is to set half of the difference between last set speed
    00112     // and the actual desired speed as new speed; max_force is also set
    00113     /*
    00114       double tmp;
    00115       int len = (motornumber < motorno)? motornumber : motorno;
    00116       for (int i=0; i<len; i++){
    00117       tmp=dJointGetHinge2Param(joint[i],dParamVel2);
    00118       dJointSetHinge2Param(joint[i],dParamVel2,tmp + 0.5*(motors[i]*speed-tmp) );
    00119       dJointSetHinge2Param (joint[i],dParamFMax2,max_force);
    00120       }
    00121     */
    00122   };
    00123
    00124   /** returns actual sensorvalues
    00125       @param sensors sensors scaled to [-1,1] (more or less)
    00126       @param sensornumber length of the sensor array
    00127       @return number of actually written sensors
    00128   */
    00129   int Formel1::getSensors(sensor* sensors, int sensornumber){
    00130     assert(created); // robot must exist
    00131
    00132     // the number of sensors to read is the minimum of
    00133     // "number of sensors requested" (sensornumber) and
    00134     // "number of sensors inside the robot" (sensorno)
    00135     int len = (sensornumber < sensorno)? sensornumber : sensorno;
    00136
    00137     // for each sensor the anglerate of the joint is red and scaled with 1/speed
    00138     for (int i=0; i<len; i++){
    00139       sensors[i]=joint[i]->getPosition2Rate();
    00140       sensors[i]/=speed;  //scaling
    00141     }
    00142     // the number of red sensors is returned
    00143     return len;
    00144   };
    00145
    00146
    00147   void Formel1::place(const Matrix& pose){
    00148     // the position of the robot is the center of the body (without wheels)
    00149     // to set the vehicle on the ground when the z component of the position is 0
    00150     // width*0.6 is added (without this the wheels and half of the robot will be in the ground)
    00151     Matrix p2;
    00152     p2 = pose * Matrix::translate(Vec3(0, 0, width*0.6));
    00153     create(p2);
    00154   };
    00155
    00156
    00157   /**
    00158    * updates the osg notes
    00159    */
    00160   void Formel1::update(){
    00161     assert(created); // robot must exist
    00162
    00163     for (int i=0; i<segmentsno; i++) {
    00164       object[i]->update();
    00165     }
    00166     for (int i=0; i < 4; i++) {
    00167       joint[i]->update();
    00168     }
    00169
    00170   };
    00171
    00172   /** things for collision handling inside the space of the robot can be done here
    00173    */
    00174   void Formel1::mycallback(void *data, dGeomID o1, dGeomID o2){
    00175     // do collisions handling for collisions between parts inside the space of the robot here
    00176     // this has no meaning for this robot, because collsions between wheels and body are ignored
    00177     // but if parts of the robot can move against each other this is important
    00178
    00179     // the follwing (not active) code part can be used to check if objects which had collisions
    00180     // are inside the list of objects of the robot
    00181     /*  Formel1* me = (Formel1*)data;
    00182         if(isGeomInObjectList(me->object, me->segmentsno, o1)
    00183         && isGeomInObjectList(me->object, me->segmentsno, o2)){
    00184         return;
    00185         }
    00186     */
    00187   }
    00188
    00189   /** this function is called in each timestep. It should perform robot-internal checks,
    00190       like space-internal collision detection, sensor resets/update etc.
    00191       @param GlobalData structure that contains global data from the simulation environment
    00192   */
    00193   void Formel1::doInternalStuff(const GlobalData& global){}
    00194
    00195   /** checks for internal collisions and treats them.
    00196    *  In case of a treatment return true (collision will be ignored by other objects
    00197    *  and the default routine)  else false (collision is passed to other objects and
    00198    *  (if not treated) to the default routine).
    00199    */
    00200   bool Formel1::collisionCallback(void *data, dGeomID o1, dGeomID o2){
    00201     assert(created); // robot must exist
    00202
    00203     // checks if one of the collision objects is part of thee space the robot is in
    00204     // and therefore part of the robot
    00205     if( o1 == (dGeomID)odeHandle.space || o2 == (dGeomID)odeHandle.space){
    00206       // if the space is involved check for collisions between parts inside the space
    00207       // this has no meaning here, because collsions between wheels and body are ignored
    00208       // but if parts of the robot can move against each other this is important
    00209       dSpaceCollide(odeHandle.space, this, mycallback);
    00210
    00211       bool colwithme;   // for collision with some part of the vehicle
    00212       bool colwithbody; // for collision with the (main) body
    00213       int i,n;
    00214       const int N = 10;
    00215       dContact contact[N];
    00216       // extract collision points between the two objects that intersect
    00217       n = dCollide (o1,o2,N,&contact[0].geom,sizeof(dContact));
    00218       // for each collision point
    00219       for (i=0; i<n; i++){
    00220         // collisions set to false
    00221         colwithbody = false;
    00222         colwithme = false;
    00223         // if there is a collision with the body both bools have to be set to true
    00224         if( contact[i].geom.g1 == object[0]->getGeom() || contact[i].geom.g2 == object[0]->getGeom()){
    00225           colwithbody = true;
    00226           colwithme = true;
    00227         }
    00228         // if there is a collision with one of the wheels only colwithme has to be set true
    00229         if( isGeomInPrimitiveList(object+1, segmentsno-1, contact[i].geom.g1) ||
    00230             isGeomInPrimitiveList(object+1, segmentsno-1, contact[i].geom.g2)){
    00231           colwithme = true;
    00232         }
    00233         if( colwithme){ // if collision set the contact parameters
    00234           contact[i].surface.mode = dContactSlip1 | dContactSlip2 |
    00235             dContactSoftERP | dContactSoftCFM | dContactApprox1;
    00236           contact[i].surface.slip1 = 0.005;
    00237           contact[i].surface.slip2 = 0.005;
    00238           if(colwithbody){ // if collision with body set small friction
    00239             contact[i].surface.mu = 0.1; // small friction of smooth body
    00240             contact[i].surface.soft_erp = 0.5;
    00241             contact[i].surface.soft_cfm = 0.001;
    00242           }else{  // if collision with the wheels set large friction to give wheels grip on the ground
    00243             contact[i].surface.mu = 1.1; //large friction
    00244             contact[i].surface.soft_erp = 0.9;
    00245             contact[i].surface.soft_cfm = 0.001;
    00246           }
    00247           // create a joint in the world with the properties set above
    00248           // (the joint must be put in group "contactgroup", which is deleted
    00249           // after each simulation step, see ode documentation)
    00250           dJointID c = dJointCreateContact( odeHandle.world, odeHandle.jointGroup, &contact[i]);
    00251           // attach the intersecting objects to the joint
    00252           dJointAttach ( c , dGeomGetBody(contact[i].geom.g1) , dGeomGetBody(contact[i].geom.g2)) ;
    00253         }
    00254       }
    00255       //if collision handled return true
    00256       return true;
    00257     }
    00258     //if collision not handled return false
    00259     return false;
    00260   }
    00261
    00262
    00263   /** creates vehicle at desired position
    00264       @param pos struct Position with desired position
    00265   */
    00266   void Formel1::create( const Matrix& pose ){
    00267     if (created) {  // if robot exists destroy it
    00268       destroy();
    00269     }
    00270     // create car space and add it to the top level space
    00271     odeHandle.space = dSimpleSpaceCreate (parentspace);
    00272
    00273     Capsule* cap = new Capsule(width/2, length);
    00274     cap->init(odeHandle, cmass, osgHandle);
    00275     // rotate and place body (here by 90° around the y-axis)
    00276     cap->setPose(Matrix::rotate(M_PI/2, 0, 1, 0) * pose);
    00277     cap->getOSGPrimitive()->setTexture("Images/wood.rgb");
    00278     object[0]=cap;
    00279
    00280     // create wheel bodies
    00281     osgHandle.color= Color(0.8,0.8,0.8);
    00282     for (int i=1; i<5; i++) {
    00283
    00284       Sphere* sph = new Sphere(radius);
    00285       sph->init(odeHandle, wmass, osgHandle);
    00286       // rotate and place body (here by 90° around the x-axis)
    00287       Vec3 wpos = Vec3( ((i-1)/2==0?-1:1)*length/2.0,
    00288                         ((i-1)%2==0?-1:1)*(width*0.5+wheelthickness),
    00289                         -width*0.6+radius );
    00290       sph->setPose(Matrix::rotate(M_PI/2, 0, 0, 1) * Matrix::translate(wpos) * pose);
    00291       sph->getOSGPrimitive()->setTexture("Images/wood.rgb");
    00292       object[i]=sph;
    00293     }
    00294
    00295     // generate 4 joints to connect the wheels to the body
    00296     for (int i=0; i<4; i++) {
    00297       Pos anchor(dBodyGetPosition (object[i+1]->getBody()));
    00298       joint[i] = new Hinge2Joint(object[0], object[i+1], anchor, Vec3(0,0,1), Vec3(0,1,0));
    00299       joint[i]->init(odeHandle, osgHandle, true, 2.01 * radius);
    00300     }
    00301     for (int i=0; i<4; i++) {
    00302       // set stops to make sure wheels always stay in alignment
    00303       joint[i]->setParam(dParamLoStop, 0);
    00304       joint[i]->setParam(dParamHiStop, 0);
    00305     }
    00306
    00307     created=true; // robot is created
    00308   };
    00309
    00310
    00311   /** destroys vehicle and space
    00312    */
    00313   void Formel1::destroy(){
    00314     if (created){
    00315       for (int i=0; i<segmentsno; i++){
    00316         if(object[i]) delete object[i]; // destroy bodies and geoms
    00317       }
    00318       for (int i=0; i<4; i++){
    00319         if(joint[i]) delete joint[i]; // destroy bodies and geoms
    00320       }
    00321       dSpaceDestroy(odeHandle.space); // destroy space
    00322     }
    00323     created=false; // robot does not exist (anymore)
    00324   }
    00325
    00326 }