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# forcedsphere.h

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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  ***************************************************************************
    00023  *                                                                         *
    00024  * Spherical Robot magically driven                                        *
    00025  *                                                                         *
    00026  *   $Log: forcedsphere.h,v $
    00027  *   Revision 1.2.4.5  2006/03/30 12:34:56  martius
    00028  *   documentation updated
    00029  *
    00030  *   Revision 1.2.4.4  2006/01/10 22:25:09  martius
    00031  *   moved to osg
    00032  *
    00033  *
    00034  *                                                                 *
    00035  ***************************************************************************/
    00036
    00037 #ifndef __FORCESSPHERE_H
    00038 #define __FORCESSPHERE_H
    00039
    00040 #include "oderobot.h"
    00041
    00042 namespace lpzrobots {
    00043
    00044   class Primitive;
    00045
    00046   class ForcedSphere : public OdeRobot
    00047   {
    00048   protected:
    00049     Primitive* object[1];
    00050     double radius;
    00051     double max_force;
    00052     bool created;
    00053
    00054   public:
    00055
    00056     /**
    00057      *constructor
    00058      **/
    00059     ForcedSphere ( const OdeHandle& odeHandle, const OsgHandle& osgHandle,
    00060                    const char* name, double radius=1, double max_force=1);
    00061
    00062     virtual ~ForcedSphere();
    00063
    00064     /// update all primitives and joints
    00065     virtual void update();
    00066
    00067     /** sets the pose of the vehicle
    00068         @param pose desired 4x4 pose matrix
    00069     */
    00070     virtual void place(const osg::Matrix& pose);
    00071
    00072     /**
    00073      *This is the collision handling function for snake robots.
    00074      *This overwrides the function collisionCallback of the class robot.
    00075      *@param data
    00076      *@param o1 first geometrical object, which has taken part in the collision
    00077      *@param o2 second geometrical object, which has taken part in the collision
    00078      *@return true if the collision was threated  by the robot, false if not
    00079      **/
    00080     virtual bool collisionCallback(void *data, dGeomID o1, dGeomID o2);
    00081     /** this function is called in each timestep. It should perform robot-internal checks,
    00082         like space-internal collision detection, sensor resets/update etc.
    00083         @param globalData structure that contains global data from the simulation environment
    00084     */
    00085     virtual void doInternalStuff(const GlobalData& globalData);
    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     /**
    00096      *Reads the actual motor commands from an array, an sets all motors of the snake to this values.
    00097      *It is an linear allocation.
    00098      *@param motors pointer to the array, motor values are scaled to [-1,1]
    00099      *@param motornumber length of the motor array
    00100      **/
    00101     virtual void setMotors ( const motor* motors, int motornumber );
    00102
    00103     /**
    00104      *Returns the number of motors used by the snake.
    00105      *@return number of motors
    00106      **/
    00107     virtual int getMotorNumber();
    00108
    00109     /**
    00110      *Returns the number of sensors used by the robot.
    00111      *@return number of sensors
    00112      **/
    00113     virtual int getSensorNumber();
    00114
    00115
    00116   protected:
    00117     /** the main object of the robot, which is used for position and speed tracking */
    00118     virtual Primitive* getMainPrimitive() const { return object[0]; }
    00119
    00120     /** creates vehicle at desired pose
    00121         @param pose 4x4 pose matrix
    00122     */
    00123     virtual void create(const osg::Matrix& pose);
    00124     virtual void destroy();
    00125
    00126
    00127   };
    00128
    00129 }
    00130
    00131 #endif