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# arm2segm.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: arm2segm.h,v $
    00023  *   Revision 1.4.4.6  2006/03/30 12:34:56  martius
    00024  *   documentation updated
    00025  *
    00026  *   Revision 1.4.4.5  2006/01/03 13:18:51  fhesse
    00027  *   cleaned up
    00028  *   TODO: in the long run robot disappears (huge sensorvalues)
    00029  *
    00030  *   Revision 1.4.4.4  2006/01/03 10:01:46  fhesse
    00031  *   moved to osg
    00032  *
    00033  *   Revision 1.4.4.3  2005/11/16 11:26:52  martius
    00034  *   moved to selforg
    00035  *
    00036  *   Revision 1.4.4.2  2005/11/15 12:29:26  martius
    00037  *   new selforg structure and OdeAgent, OdeRobot ...
    00038  *
    00039  *   Revision 1.4.4.1  2005/11/14 17:37:17  martius
    00040  *   moved to selforg
    00041  *
    00042  *   Revision 1.4  2005/10/06 17:14:24  martius
    00043  *   switched to stl lists
    00044  *
    00045  *   Revision 1.3  2005/09/22 12:24:36  martius
    00046  *   removed global variables
    00047  *   OdeHandle and GlobalData are used instead
    00048  *   sensor prepared
    00049  *
    00050  *   Revision 1.2  2005/09/20 11:17:29  fhesse
    00051  *   smaller changes, needs clean up and comments
    00052  *
    00053  *   Revision 1.1  2005/07/28 10:22:55  fhesse
    00054  *   initial version,
    00055  *   known bugs: when calling show params an
    00056  *   "pure virtual function called" error  happens
    00057  *
    00058  *
    00059  *                                                                 *
    00060  ***************************************************************************/
    00061 #ifndef __ARM2SEGM_H
    00062 #define __ARM2SEGM_H
    00063
    00064 #include "oderobot.h"
    00065 #include <selforg/configurable.h>
    00066 #include <vector>
    00067
    00068 #include "primitive.h"
    00069 #include "joint.h"
    00070
    00071 #include "angularmotor.h"
    00072 namespace lpzrobots{
    00073
    00074   typedef struct {
    00075     double max_force;  // maximal force for motors
    00076     int segmentsno;    // number of segments
    00077
    00078     double base_mass;  // mass of base
    00079     double base_length;
    00080     double base_width;
    00081
    00082     double arm_mass;   // mass of arms
    00083     double arm_width;
    00084     double arm_length;
    00085     double arm_offset; // used for placing of arms
    00086
    00087     double joint_offset; // used for placing of arms
    00088   } Arm2SegmConf;
    00089
    00090
    00091
    00092   class Arm2Segm : public OdeRobot, public Configurable{
    00093   public:
    00094
    00095     Arm2Segm(const OdeHandle& odeHandle, const OsgHandle& osgHandle, const Arm2SegmConf);
    00096
    00097     virtual ~Arm2Segm(){};
    00098
    00099     static Arm2SegmConf getDefaultConf(){
    00100       Arm2SegmConf conf;
    00101       conf.max_force=5;       // maximal force for motors
    00102       conf.segmentsno=4;      // number of segments
    00103       conf.base_mass=0.5;     // mass of base segment
    00104       conf.base_length= 0.4;  // length of base segment
    00105       conf.base_width= 0.1;   // width of base segment
    00106       conf.arm_mass=0.1;      // mass of arm elements
    00107       conf.arm_width=0.2;     // width (thickness) of arms
    00108       conf.arm_length = 1.2;  // length of arms
    00109       conf.arm_offset= 0.03;  // offset between arms (so that they do not touch)
    00110       conf.joint_offset=0.2;  // overlapping of arms (to have area for joints)
    00111       return conf;
    00112     }
    00113
    00114     /// update the subcomponents
    00115     virtual void update();
    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     /** returns actual sensorvalues
    00123         @param sensors sensors scaled to [-1,1]
    00124         @param sensornumber length of the sensor array
    00125         @return number of actually written sensors
    00126     */
    00127     virtual int getSensors(sensor* sensors, int sensornumber);
    00128
    00129     /** sets actual motorcommands
    00130         @param motors motors scaled to [-1,1]
    00131         @param motornumber length of the motor array
    00132     */
    00133     virtual void setMotors(const motor* motors, int motornumber);
    00134
    00135     /** returns number of sensors
    00136      */
    00137     virtual int getSensorNumber(){
    00138       return sensorno;
    00139     };
    00140
    00141     /** returns number of motors
    00142      */
    00143     virtual int getMotorNumber(){
    00144       return motorno;
    00145     };
    00146
    00147     /** returns a vector with the positions of all segments of the robot
    00148         @param poslist vector of positions (of all robot segments)
    00149         @return length of the list
    00150     */
    00151     virtual int getSegmentsPosition(vector<Position> &poslist);
    00152
    00153     /** the main object of the robot, which is used for position and speed tracking */
    00154     virtual Primitive* getMainPrimitive() const;
    00155
    00156     virtual bool collisionCallback(void *data, dGeomID o1, dGeomID o2);
    00157     /** this function is called in each timestep. It should perform robot-internal checks,
    00158         like space-internal collision detection, sensor resets/update etc.
    00159         @param globalData structure that contains global data from the simulation environment
    00160     */
    00161     virtual void doInternalStuff(const GlobalData& globalData);
    00162
    00163     /// returns the name of the object (with version number)
    00164     virtual paramkey getName() const {return name; }
    00165
    00166     /** The list of all parameters with there value as allocated lists.
    00167         @return list of names
    00168     */
    00169     paramlist getParamList() const;
    00170
    00171     virtual paramval getParam(const paramkey& key) const;
    00172
    00173     virtual bool setParam(const paramkey& key, paramval val);
    00174
    00175
    00176   protected:
    00177
    00178     /** creates vehicle at desired pose
    00179         @param pose 4x4 pose matrix
    00180     */
    00181     virtual void create(const osg::Matrix& pose);
    00182
    00183     /** destroys vehicle and space
    00184      */
    00185     virtual void destroy();
    00186
    00187     static void mycallback(void *data, dGeomID o1, dGeomID o2);
    00188
    00189     dSpaceID parentspace;
    00190
    00191     Arm2SegmConf conf;
    00192
    00193     vector <Primitive*> objects;
    00194     vector <Joint*> joints;
    00195     vector <AngularMotor1Axis*> amotors;
    00196
    00197     string name;
    00198     paramval speed;
    00199     paramval factorSensors;
    00200
    00201     int sensorno;      //number of sensors
    00202     int motorno;       // number of motors
    00203
    00204     bool created;      // true if robot was created
    00205   };
    00206 };
    00207 #endif