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# nimm4.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  *   $Log: nimm4.h,v $
    00023  *   Revision 1.5.4.12  2006/04/04 14:13:24  fhesse
    00024  *   documentation improved
    00025  *
    00026  *   Revision 1.5.4.11  2006/03/31 16:20:28  fhesse
    00027  *   class Joint; changed to: class Hinge2Joint;
    00028  *
    00029  *   Revision 1.5.4.10  2006/03/30 12:34:56  martius
    00030  *   documentation updated
    00031  *
    00032  *   Revision 1.5.4.9  2005/12/15 17:04:08  martius
    00033  *   Primitives are not longer inherited from OSGPrimitive, moreover
    00034  *   they aggregate them.
    00035  *   Joint have better getter and setter
    00036  *
    00037  *   Revision 1.5.4.8  2005/12/14 15:37:09  martius
    00038  *   robots are working with osg
    00039  *
    00040  *   Revision 1.5.4.7  2005/12/13 18:11:40  martius
    00041  *   still trying to port robots
    00042  *
    00043  *   Revision 1.5.4.6  2005/12/12 23:41:19  martius
    00044  *   added Joint wrapper
    00045  *
    00046  *   Revision 1.5.4.5  2005/12/11 23:35:08  martius
    00047  *   *** empty log message ***
    00048  *
    00049  *   Revision 1.5.4.4  2005/12/06 10:13:25  martius
    00050  *   openscenegraph integration started
    00051  *
    00052  *   Revision 1.5.4.3  2005/11/16 11:26:52  martius
    00053  *   moved to selforg
    00054  *
    00055  *   Revision 1.5.4.2  2005/11/15 12:29:26  martius
    00056  *   new selforg structure and OdeAgent, OdeRobot ...
    00057  *
    00058  *   Revision 1.5.4.1  2005/11/14 17:37:18  martius
    00059  *   moved to selforg
    00060  *
    00061  *   Revision 1.5  2005/10/27 16:10:41  fhesse
    00062  *   nimm4 as example
    00063  *
    00064  *   Revision 1.4  2005/09/22 12:24:37  martius
    00065  *   removed global variables
    00066  *   OdeHandle and GlobalData are used instead
    00067  *   sensor prepared
    00068  *
    00069  *   Revision 1.3  2005/08/31 11:14:06  martius
    00070  *   removed unused vars
    00071  *
    00072  *   Revision 1.2  2005/08/03 20:38:56  martius
    00073  *   added textures and correct placement
    00074  *
    00075  *   Revision 1.1  2005/07/29 15:13:11  martius
    00076  *   a robot with 4 independent wheels
    00077  *
    00078  *                                                                 *
    00079  ***************************************************************************/
    00080 #ifndef __NIMM4_H
    00081 #define __NIMM4_H
    00082
    00083 #include "oderobot.h"
    00084
    00085 namespace lpzrobots {
    00086
    00087   class Primitive;
    00088   class Hinge2Joint;
    00089
    00090   /** Robot that looks like a Nimm 2 Bonbon :-)
    00091       4 wheels and a capsule like body
    00092   */
    00093   class Nimm4 : public OdeRobot{
    00094   public:
    00095
    00096     /**
    00097      * constructor of nimm4 robot
    00098      * @param odeHandle data structure for accessing ODE
    00099      * @param osgHandle ata structure for accessing OSG
    00100      * @param size scaling of robot
    00101      * @param force maximal used force to realize motorcommand
    00102      * @param speed factor for changing speed of robot
    00103      * @param sphereWheels switches between spheres and  'normal' wheels
    00104      */
    00105     Nimm4(const OdeHandle& odeHandle, const OsgHandle& osgHandle,
    00106           double size=1, double force=3, double speed=15, bool sphereWheels=true);
    00107
    00108     virtual ~Nimm4(){};
    00109
    00110     /**
    00111      * updates the OSG nodes of the vehicle
    00112      */
    00113     virtual void update();
    00114
    00115
    00116     /** sets the pose of the vehicle
    00117         @param pose desired pose matrix
    00118     */
    00119     virtual void place(const osg::Matrix& pose);
    00120
    00121     /** returns actual sensorvalues
    00122         @param sensors sensors scaled to [-1,1]
    00123         @param sensornumber length of the sensor array
    00124         @return number of actually written sensors
    00125     */
    00126     virtual int getSensors(sensor* sensors, int sensornumber);
    00127
    00128     /** sets actual motorcommands
    00129         @param motors motors scaled to [-1,1]
    00130         @param motornumber length of the motor array
    00131     */
    00132     virtual void setMotors(const motor* motors, int motornumber);
    00133
    00134     /** returns number of sensors
    00135      */
    00136     virtual int getSensorNumber(){
    00137       return sensorno;
    00138     };
    00139
    00140     /** returns number of motors
    00141      */
    00142     virtual int getMotorNumber(){
    00143       return motorno;
    00144     };
    00145
    00146     /** checks for internal collisions and treats them.
    00147      *  In case of a treatment return true (collision will be ignored by other objects
    00148      *  and the default routine)  else false (collision is passed to other objects and
    00149      *  (if not treated) to the default routine).
    00150      */
    00151     virtual bool collisionCallback(void *data, dGeomID o1, dGeomID o2);
    00152
    00153     /** this function is called in each timestep. It should perform robot-internal checks,
    00154         like space-internal collision detection, sensor resets/update etc.
    00155         @param globalData structure that contains global data from the simulation environment
    00156     */
    00157     virtual void doInternalStuff(const GlobalData& globalData);
    00158
    00159
    00160   protected:
    00161     /** the main object of the robot, which is used for position and speed tracking */
    00162     virtual Primitive* getMainPrimitive() const { return object[0]; }
    00163
    00164     /** creates vehicle at desired pose
    00165         @param pose 4x4 pose matrix
    00166     */
    00167     virtual void create(const osg::Matrix& pose);
    00168
    00169     /** destroys vehicle and space
    00170      */
    00171     virtual void destroy();
    00172
    00173     /** additional things for collision handling can be done here
    00174      */
    00175     static void mycallback(void *data, dGeomID o1, dGeomID o2);
    00176
    00177     double length;     // chassis length
    00178     double width;      // chassis width
    00179     double height;     // chassis height
    00180     double radius;     // wheel radius
    00181     double wheelthickness; // thickness of the wheels
    00182     bool sphereWheels; // draw spherical wheels?
    00183     double cmass;      // chassis mass
    00184     double wmass;      // wheel mass
    00185     int sensorno;      // number of sensors
    00186     int motorno;       // number of motors
    00187     int segmentsno;    // number of motorsvehicle segments
    00188     double speed;      // factor for adjusting speed of robot
    00189
    00190     double max_force;  // maximal force for motors
    00191
    00192     bool created;      // true if robot was created
    00193
    00194     Primitive* object[5];  // 1 capsule, 4 wheels
    00195     Hinge2Joint* joint[4]; // joints between cylinder and each wheel
    00196
    00197   };
    00198
    00199 }
    00200
    00201 #endif