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# schlange.h

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    00001 /************************************************************************/
    00002 /* schlange.h                                                           */
    00003 /* Abstract class for Snakes                                            */
    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: schlange.h,v $
    00029  *   Revision 1.15.4.7  2006/03/30 12:34:56  martius
    00030  *   documentation updated
    00031  *
    00032  *   Revision 1.15.4.6  2006/03/29 15:08:54  martius
    00033  *   getMainPrimitive is public now
    00034  *
    00035  *   Revision 1.15.4.5  2006/02/23 18:05:04  martius
    00036  *   friction with angularmotor
    00037  *
    00038  *   Revision 1.15.4.4  2006/02/01 18:33:40  martius
    00039  *   use Axis type for Joint axis. very important, since otherwise Vec3 * pose is not the right direction vector anymore
    00040  *
    00041  *   Revision 1.15.4.3  2005/12/30 22:53:13  martius
    00042  *   removed parentspace!
    00043  *
    00044  *   Revision 1.15.4.2  2005/12/29 16:45:46  martius
    00045  *   does not inherit from Roboter
    00046  *   moved to osg
    00047  *
    00048  *
    00049  *                                                                 *
    00050  ***************************************************************************/
    00051 #ifndef __SCHLANGE_H
    00052 #define __SCHLANGE_H
    00053
    00054 #include<vector>
    00055 #include<assert.h>
    00056
    00057 #include"primitive.h"
    00058 #include "joint.h"
    00059 #include "angularmotor.h"
    00060
    00061 #include "oderobot.h"
    00062 #include <selforg/configurable.h>
    00063
    00064 namespace lpzrobots {
    00065
    00066 typedef struct {
    00067 public:
    00068   int    segmNumber;  //<  number of snake elements
    00069   double segmLength;  //< length of one snake element
    00070   double segmDia;     //<  diameter of a snake element
    00071   double segmMass;    //<  mass of one snake element
    00072   double motorPower;  //<  power of the motors / servos
    00073   double sensorFactor;    //<  scale for sensors
    00074   double frictionGround;  //< friction with ground
    00075   double frictionJoint;   //< friction within joint
    00076   double jointLimit;      //< maximal angle for the joints (M_PI/2 = 90 degree)
    00077 } SchlangeConf;
    00078
    00079
    00080 /**
    00081  * This is a class, which models a snake like robot.
    00082  * It consists of a number of equal elements, each linked
    00083  * by a joint
    00084  **/
    00085 class Schlange: public OdeRobot, public Configurable
    00086 {
    00087 protected:
    00088
    00089   bool created;
    00090
    00091   vector <Primitive*> objects;
    00092   vector <Joint*> joints;
    00093   vector <AngularMotor*> frictionmotors;
    00094   SchlangeConf conf;
    00095
    00096 public:
    00097   Schlange ( const OdeHandle& odeHandle, const OsgHandle& osgHandle,
    00098              const SchlangeConf& conf, const char* name);
    00099
    00100   static SchlangeConf getDefaultConf(){
    00101     SchlangeConf conf;
    00102     conf.segmNumber = 10;    //  number of snake elements
    00103     conf.segmLength = 0.8;   // length of one snake element
    00104     conf.segmDia    = 0.2;   //  diameter of a snake element
    00105     conf.segmMass   = 0.4;   //  mass of one snake element
    00106     conf.motorPower = 1;    //  power of the servos
    00107     conf.sensorFactor = 1;    //  scale for sensors
    00108     conf.frictionGround = 1.0; // friction with ground
    00109     conf.frictionJoint = 0.1; // friction within joint
    00110     conf.jointLimit =  M_PI/4;
    00111     return conf;
    00112   }
    00113
    00114   virtual ~Schlange();
    00115
    00116
    00117   /** sets the pose of the vehicle
    00118       @param pose desired 4x4 pose matrix
    00119   */
    00120   virtual void place(const osg::Matrix& pose);
    00121
    00122   /// update all primitives and joints
    00123   virtual void update();
    00124
    00125   /**
    00126    *This is the collision handling function for snake robots.
    00127    *This overwrides the function collisionCallback of the class robot.
    00128    *@param data
    00129    *@param o1 first geometrical object, which has taken part in the collision
    00130    *@param o2 second geometrical object, which has taken part in the collision
    00131    *@return true if the collision was threated  by the robot, false if not
    00132    **/
    00133   virtual bool collisionCallback(void *data, dGeomID o1, dGeomID o2);
    00134
    00135   static void mycallback(void *data, dGeomID o1, dGeomID o2);
    00136
    00137   virtual void doInternalStuff(const GlobalData& global);
    00138
    00139   /**
    00140    *Reads the actual motor commands from an array,
    00141    *an sets all motors of the snake to this values.
    00142    *It is an linear allocation.
    00143    *@param motors pointer to the array, motor values are scaled to [-1,1]
    00144    *@param motornumber length of the motor array
    00145    **/
    00146   virtual void setMotors ( const motor* motors, int motornumber ) = 0;
    00147
    00148   /**
    00149    *Writes the sensor values to an array in the memory.
    00150    *@param sensors pointer to the array
    00151    *@param sensornumber length of the sensor array
    00152    *@return number of actually written sensors
    00153    **/
    00154   virtual int getSensors ( sensor* sensors, int sensornumber ) = 0;
    00155
    00156   /** returns number of sensors
    00157    */
    00158   virtual int getSensorNumber() = 0;
    00159
    00160   /** returns number of motors
    00161    */
    00162   virtual int getMotorNumber() = 0;
    00163
    00164   /** returns a vector with the positions of all segments of the robot
    00165       @param poslist vector of positions (of all robot segments)
    00166       @return length of the list
    00167   */
    00168   virtual int getSegmentsPosition(vector<Position> &poslist);
    00169
    00170   /// returns the name of the object (with version number)
    00171   virtual paramkey getName() const { return name; }
    00172
    00173   /** The list of all parameters with there value as allocated lists.
    00174   */
    00175   virtual paramlist getParamList() const;
    00176
    00177   virtual paramval getParam(const paramkey& key) const;;
    00178
    00179   virtual bool setParam(const paramkey& key, paramval val);
    00180
    00181   /** the main object of the robot, which is used for position and speed tracking */
    00182   virtual Primitive* getMainPrimitive() const {
    00183     if(!objects.empty()){
    00184       //      int half = objects.size()/2;
    00185       //      return (objects[half]);
    00186       return (objects[0]);
    00187     }else return 0;
    00188   }
    00189 protected:
    00190
    00191   /** creates vehicle at desired pose
    00192       @param pose 4x4 pose matrix
    00193   */
    00194   virtual void create(const osg::Matrix& pose);
    00195   virtual void destroy();
    00196 };
    00197
    00198 }
    00199
    00200 #endif