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# muscledarm.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: muscledarm.h,v $
    00023  *   Revision 1.1.4.12  2006/03/31 16:13:59  fhesse
    00024  *   *** empty log message ***
    00025  *
    00026  *   Revision 1.1.4.11  2006/03/30 12:34:56  martius
    00027  *   documentation updated
    00028  *
    00029  *   Revision 1.1.4.10  2006/03/28 14:24:37  fhesse
    00030  *   minor changes
    00031  *
    00032  *   Revision 1.1.4.9  2006/01/31 09:58:11  fhesse
    00033  *   basically working now
    00034  *
    00035  *   Revision 1.1.4.8  2006/01/13 12:22:07  fhesse
    00036  *   partially working
    00037  *
    00038  *   Revision 1.1.4.7  2006/01/10 16:45:53  fhesse
    00039  *   not working osg version
    00040  *
    00041  *   Revision 1.1.4.6  2006/01/10 09:38:00  fhesse
    00042  *   partially moved to osg
    00043  *
    00044  *   Revision 1.1.4.5  2005/12/16 16:36:05  fhesse
    00045  *   manual control via keyboard
    00046  *   setMotors via dJointAddSliderForce
    00047  *
    00048  *   Revision 1.1.4.4  2005/11/24 16:15:57  fhesse
    00049  *   moved from main branch, sensors improved
    00050  *
    00051  *   Revision 1.3  2005/11/17 16:29:25  fhesse
    00052  *   initial version
    00053  *
    00054  *   Revision 1.2  2005/11/15 12:36:27  fhesse
    00055  *   muscles drawn as muscles, sphere drawn at tip of lower arm
    00056  *
    00057  *   Revision 1.1  2005/11/11 15:37:06  fhesse
    00058  *   preinitial version
    00059  *                                                                 *
    00060  *                                                                         *
    00061  ***************************************************************************/
    00062
    00063
    00064 #ifndef __MUSCLEDARM_H
    00065 #define __MUSCLEDARM_H
    00066
    00067 #include "oderobot.h"
    00068 #include <selforg/configurable.h>
    00069 #include "primitive.h"
    00070 #include "joint.h"
    00071
    00072 namespace lpzrobots{
    00073
    00074
    00075
    00076 #define SIDE (0.2)              /* side length of a box */
    00077 #define MASS (1.0)              /* mass of a capped cylinder */
    00078 #define includeMusclesGraphics false
    00079
    00080
    00081   /* Enumeration of different parts and joints */
    00082   // left, right up and down correspond to view from top, when base is on the bottom
    00083   enum parts {base, upperArm, lowerArm,
    00084               mainMuscle11, //left mainMuscle bottom part
    00085               mainMuscle12, //left mainMuscle top part
    00086               mainMuscle21, //right mainMuscle lower part
    00087               mainMuscle22, //right mainMuscle upper part
    00088               smallMuscle11,
    00089               smallMuscle12,
    00090               smallMuscle21,
    00091               smallMuscle22,
    00092               smallMuscle31,
    00093               smallMuscle32,
    00094               smallMuscle41,
    00095               smallMuscle42,
    00096               hand,
    00097               NUMParts};
    00098
    00099   enum joints {HJ_BuA,    // hinge joint between base and upperArm
    00100                HJ_uAlA,   // hinge joint between upperArm and lowerArm
    00101
    00102                HJ_BmM11,  // hinge joint between base and mainMuscle11
    00103                HJ_lAmM12, // hinge joint between lowerArm and mainMuscle12
    00104                HJ_BmM21,  // hinge joint between base and mainMuscle21
    00105                HJ_lAmM22, // hinge joint between lowerArm and mainMuscle22
    00106
    00107                HJ_BsM11,  // hinge joint between base and smallMuscle11
    00108                HJ_uAsM12, // hinge joint between upperArm and smallMuscle12
    00109                HJ_BsM21,  // hinge joint between base and smallMuscle21
    00110                HJ_uAsM22, // hinge joint between upperArm and smallMuscle22
    00111                HJ_lAsM31, // hinge joint between lowerArm and smallMuscle31
    00112                HJ_uAsM32, // hinge joint between upperArm and smallMuscle32
    00113                HJ_lAsM41, // hinge joint between lowerArm and smallMuscle41
    00114                HJ_uAsM42, // hinge joint between upperArm and smallMuscle42
    00115
    00116                SJ_mM1, // sliderJoint between mainMuscle11 and mainMuscle12
    00117                SJ_mM2, // sliderJoint between mainMuscle21 and mainMuscle22
    00118
    00119                SJ_sM1, // slider Joint between smallMuscle11 ans smallMuscle12
    00120                SJ_sM2, // slider Joint between smallMuscle21 ans smallMuscle22
    00121                SJ_sM3, // slider Joint between smallMuscle31 ans smallMuscle32
    00122                SJ_sM4, // slider Joint between smallMuscle41 ans smallMuscle42
    00123                NUMJoints};
    00124
    00125
    00126
    00127   typedef struct {
    00128     bool jointAngleSensors; // choose sensors, all combinations are possible
    00129     bool jointAngleRateSensors;
    00130     bool muscleLengthSensors;
    00131     bool jointActuator;  // if true, two motors at the joints are used
    00132                          // if false, six muscles are used
    00133
    00134   } MuscledArmConf;
    00135
    00136   class MuscledArm : public OdeRobot, public Configurable{
    00137   public:
    00138
    00139     double force_[6];
    00140
    00141     MuscledArm(const OdeHandle& odeHandle, const OsgHandle& osgHandle, const MuscledArmConf& conf);
    00142
    00143     static MuscledArmConf getDefaultConf(){
    00144       MuscledArmConf conf;
    00145       conf.jointAngleSensors=false;
    00146       conf.jointAngleRateSensors=true;
    00147       conf.muscleLengthSensors=false;
    00148       conf.jointActuator=false;
    00149       return conf;
    00150     }
    00151
    00152     virtual ~MuscledArm(){};
    00153
    00154
    00155     /// update the subcomponents
    00156     virtual void update();
    00157
    00158
    00159     /** sets the pose of the vehicle
    00160         @param pose desired 4x4 pose matrix
    00161     */
    00162     virtual void place(const osg::Matrix& pose);
    00163
    00164
    00165     /** returns actual sensorvalues
    00166         @param sensors sensors scaled to [-1,1]
    00167         @param sensornumber length of the sensor array
    00168         @return number of actually written sensors
    00169     */
    00170     virtual int getSensors(sensor* sensors, int sensornumber);
    00171
    00172     /** sets actual motorcommands
    00173         @param motors motors scaled to [-1,1]
    00174         @param motornumber length of the motor array
    00175     */
    00176     virtual void setMotors(const motor* motors, int motornumber);
    00177
    00178     /** returns number of sensors
    00179      */
    00180     virtual int getSensorNumber(){
    00181       return sensorno;
    00182     };
    00183
    00184     /** returns number of motors
    00185      */
    00186     virtual int getMotorNumber(){
    00187       return motorno;
    00188     };
    00189
    00190 /*     /\** returns position of hand (=sphere at the end of lower arm)  */
    00191 /*      @return position robot position in struct Position   */
    00192 /*     *\/ */
    00193 /*     virtual osg::Vec3 MuscledArm::getPosition(); */
    00194
    00195     /** returns a vector with the positions of all segments of the robot
    00196         @param poslist vector of positions (of all robot segments)
    00197         @return length of the list
    00198     */
    00199     virtual int getSegmentsPosition(vector<Position> &poslist);
    00200
    00201     virtual bool collisionCallback(void *data, dGeomID o1, dGeomID o2);
    00202     /** this function is called in each timestep. It should perform robot-internal checks,
    00203         like space-internal collision detection, sensor resets/update etc.
    00204         @param globalData structure that contains global data from the simulation environment
    00205     */
    00206     virtual void doInternalStuff(const GlobalData& globalData);
    00207
    00208     /// returns the name of the object (with version number)
    00209     virtual paramkey getName() const {return name; }
    00210
    00211     /** The list of all parameters with there value as allocated lists.
    00212     */
    00213     paramlist getParamList() const;
    00214
    00215     virtual paramval getParam(const paramkey& key) const;
    00216
    00217     virtual bool setParam(const paramkey& key, paramval val);
    00218
    00219     virtual Primitive* getMainObject() const;
    00220
    00221   protected:
    00222     /** the main object of the robot, which is used for position and speed tracking */
    00223     virtual Primitive* getMainPrimitive() const { return object[lowerArm]; }
    00224
    00225     /** creates vehicle at desired pose
    00226         @param pose 4x4 pose matrix
    00227     */
    00228     virtual void create(const osg::Matrix& pose);
    00229
    00230     /** destroys vehicle and space
    00231      */
    00232     virtual void destroy();
    00233
    00234     static void mycallback(void *data, dGeomID o1, dGeomID o2);
    00235
    00236     double dBodyGetPositionAll ( dBodyID basis , int para );
    00237     double dGeomGetPositionAll ( dGeomID basis , int para );
    00238
    00239     void BodyCreate(int n, dMass m, dReal x, dReal y, dReal z,
    00240                     dReal qx, dReal qy, dReal qz, dReal qangle);
    00241
    00242     MuscledArmConf conf;
    00243
    00244     static const int  armanzahl= 3;
    00245
    00246
    00247     Primitive* object[NUMParts];
    00248     Joint* joint[NUMJoints];
    00249
    00250     Position old_dist[NUMParts]; // used for damping
    00251
    00252     string name;
    00253     paramval factorMotors;
    00254     paramval factorSensors;
    00255     paramval damping;
    00256     paramval print;
    00257
    00258
    00259
    00260
    00261     int segmentsno;    // number of motorsvehicle segments
    00262
    00263
    00264
    00265     double gelenkabstand;
    00266     double SOCKEL_LAENGE;
    00267     double SOCKEL_BREITE;
    00268     double SOCKEL_HOEHE;
    00269     double SOCKEL_MASSE;
    00270
    00271     int sensorno;      //number of sensors
    00272     int motorno;       // number of motors
    00273
    00274     bool created;      // true if robot was created
    00275
    00276
    00277
    00278     dSpaceID parentspace;
    00279
    00280     int printed;
    00281
    00282     double max_l;
    00283     double max_r, min_l, min_r;
    00284
    00285     double base_width;
    00286     double base_length;
    00287     double upperArm_width;
    00288     double upperArm_length;
    00289     double lowerArm_width;
    00290     double lowerArm_length;
    00291     double joint_offset;
    00292     double mainMuscle_width;
    00293     double mainMuscle_length;
    00294     double smallMuscle_width;
    00295     double smallMuscle_length;
    00296
    00297   };
    00298
    00299 }
    00300 #endif