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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 1.1.2.3  2006/03/30 12:34:57  martius
    00029  *   documentation updated
    00030  *
    00031  *   Revision 1.1.2.2  2006/02/01 18:33:40  martius
    00032  *   use Axis type for Joint axis. very important, since otherwise Vec3 * pose is not the right direction vector anymore
    00033  *
    00034  *   Revision 1.1.2.1  2006/01/10 13:55:12  fhesse
    00035  *   snake powered by directly setting angular velocities
    00036  *                                             *
    00037  *                                                                         *
    00038  *                                                                         *
    00039  ***************************************************************************/
    00040 #ifndef __SCHLANGEVELOCITY_H
    00041 #define __SCHLANGEVELOCITY_H
    00042
    00043 #include "schlange.h"
    00044
    00045 namespace lpzrobots {
    00046
    00047   /**
    00048    * This is a class, which models a snake like robot.
    00049    * It consists of a number of equal elements, each linked
    00050    * by a joint powered by directly setting the angular velocities of the joints
    00051    **/
    00052   class SchlangeVelocity: public Schlange
    00053     {
    00054     private:
    00055       paramval factor_motors;
    00056       paramval factor_sensors;
    00057       paramval friction_joint;
    00058
    00059
    00060     public:
    00061       SchlangeVelocity ( const OdeHandle& odeHandle, const OsgHandle& osgHandle,
    00062                       const SchlangeConf& conf, const char* name);
    00063
    00064       static SchlangeConf getDefaultConf(){
    00065         SchlangeConf conf;
    00066         conf.segmNumber = 10;      //  number of snake elements
    00067         conf.segmLength = 0.8;     // length of one snake element
    00068         conf.segmDia    = 0.2;     //  diameter of a snake element
    00069         conf.segmMass   = 0.4;     //  mass of one snake element
    00070         conf.motorPower = 0.3;     //  power of motors
    00071         conf.frictionGround = 0.1; // friction with ground
    00072         conf.jointLimit =  M_PI/4;
    00073         return conf;
    00074       }
    00075
    00076       virtual ~SchlangeVelocity();
    00077
    00078       /**
    00079        *Reads the actual motor commands from an array,
    00080        *an sets all motors of the snake to this values.
    00081        *It is an linear allocation.
    00082        *@param motors pointer to the array, motor values are scaled to [-1,1]
    00083        *@param motornumber length of the motor array
    00084        **/
    00085       virtual void setMotors ( const motor* motors, int motornumber );
    00086
    00087       /**
    00088        *Writes the sensor values to an array in the memory.
    00089        *@param sensors pointer to the array
    00090        *@param sensornumber length of the sensor array
    00091        *@return number of actually written sensors
    00092        **/
    00093       virtual int getSensors ( sensor* sensors, int sensornumber );
    00094
    00095       /** returns number of sensors
    00096        */
    00097       virtual int getSensorNumber() { assert(created); return joints.size() * 2; }
    00098
    00099       /** returns number of motors
    00100        */
    00101       virtual int getMotorNumber(){ assert(created); return joints.size() * 2; }
    00102
    00103     private:
    00104       virtual void create(const osg::Matrix& pose);
    00105       virtual void destroy();
    00106     };
    00107
    00108 }
    00109
    00110 #endif