Robotsystem from Robot Group Leipzig: README Source File

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# ode_robots/README

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    00001 /** \file
    00002  * This file is used for the doxygen documentation.
    00003  */
    00004
    00005 /**
    00006 \dir ode_robots
    00007
    00008
    00009 The \a ode_robots directory provides all the stuff necessary for
    00010 the simulations we did with ODE (http://ode.org).
    00011
    00012 \par Simulation Environment
    00013
    00014 The class \ref lpzrobots::OdeConfig holds the configurable parameters of the simulation environment
    00015 like \ref lpzrobots::OdeConfig::gravity "gravity", \ref lpzrobots::OdeConfig::simStepSize "simStepSize",
    00016 \ref lpzrobots::OdeConfig::realTimeFactor "realTimeFactor"  and so on.\n
    00017 In \ref simulation.h and \ref simulation.cpp you find the \ref lpzrobots::OdeConfig::simulation_start "start",
    00018 \ref lpzrobots::OdeConfig::simulation_init "init" and \ref lpzrobots::OdeConfig::simulation_close "close" routines
    00019 as well as the \ref lpzrobots::OdeConfig::nearCallback "collision handling" etc. of the simulation environment,
    00020 which are used for all simulations.
    00021 In the \ref lpzrobots::OdeConfig::simulation_init "init" function you can specify user defined functions if your simulation needs this, possible are:
    00022 - \ref lpzrobots::Simulation::start "start"
    00023 - \ref lpzrobots::Simulation::end "end"
    00024 - \ref lpzrobots::Simulation::config "config"
    00025 - \ref lpzrobots::Simulation::command "command"
    00026 - \ref lpzrobots::Simulation::collCallback "collCallback"
    00027 - \ref lpzrobots::Simulation::addCallback "addCallback"
    00028
    00029 But you normally do not have to change anything in this files.
    00030
    00031
    00032 \par Simulation Objects and more
    00033
    00034 The things inside the simulation environment (and some additional stuff) is inside
    00035 the following subdirectories
    00036 - \ref ode_robots/simulations "simulations" :
    00037         ready to use simulations
    00038 - \ref ode_robots/agents "agents":
    00039         structure to build a "complete" agent (consisting of a controller,
    00040         a robot and the wiring in between), different wirings
    00041 - \ref ode_robots/robots "robots":
    00042         our robots,creatures, vehicles or whatever you would like to call
    00043         them are in this directory
    00044 - \ref ode_robots/components "components":
    00045         create your robots by plugging together different parts (work in progress)
    00046 - \ref ode_robots/osg "osg primitives":
    00047         primitives of which robots and obstacles can be assembled, and further helpful things dealing with OSG
    00048 - \ref ode_robots/motors "motors":
    00049         a few additional motors (PID servos)
    00050 - \ref ode_robots/sensors "senors":
    00051         up to now an infrared-sensor and a sensorbank is available
    00052 - \ref ode_robots/obstacles "obstacles":
    00053         passive obstacles like different kinds of playgrounds, a sphere and usage of terrains
    00054 - \ref ode_robots/utils "utils":
    00055         all the little things that make life easier
    00056 - \ref ode_robots/ode_patches "ode_patches":
    00057         our patches for ODE and drawstuff
    00058 - \ref ode_robots/textures "textures":
    00059         our textures used in the simulations and a program for calculating heigtmaps
    00060
    00061
    00062
    00063 \par How to Start Your Own Simulation
    00064
    00065 To start a new project copy one of the "template" directories in the simulations folder.
    00066 Please note that you have to delete the CVS dirctory inside your copy
    00067 before you add it to the cvs repository.
    00068 Or just use the createNewSimulation.sh script in the simulations directory:\n
    00069 <tt> $> ./createNewSimulation.sh template_dir newsimname </tt>\n
    00070 where \p template_dir is the template directory you wish to copy and \p newsimname is the
    00071 name of the new simulation you wish to create.
    00072
    00073 Now you can adjust the simulation as needed.
    00074 A simple make (and maybe a make depend before the make) in the simulation directory should be enough.
    00075 In case your simulation code consists of other files than main.cpp,
    00076  please add them to FILES in the Makefile in the simulation directory.
    00077
    00078 If you insert a new file to the simulation framework,
    00079 such as a new obstacle, robot or similar you DON'T need to do anything.
    00080 Every *.cpp file in the directories specified in Makefile.conf is
    00081 compiled and included in the library libode_robots.a.
    00082 In case you add a new directory with source files,
    00083 which should be included in the lib, then add it to Makefile.conf.
    00084
    00085 */
    00086
    00087