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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 1.5  2006/07/20 17:19:44  martius
    00024  *   removed using namespace std from matrix.h
    00025  *
    00026  *   Revision 1.4  2006/07/14 12:23:40  martius
    00027  *   selforg becomes HEAD
    00028  *
    00029  *   Revision 1.1.4.14  2006/06/25 16:57:13  martius
    00030  *   abstractrobot is configureable
    00031  *   name and revision
    00032  *
    00033  *   Revision 1.1.4.13  2006/05/05 16:20:27  fhesse
    00034  *   hand with fixed joint -> to allow tracing
    00035  *   (does not work with transform while only geom)
    00036  *
    00037  *   Revision 1.1.4.12  2006/03/31 16:13:59  fhesse
    00038  *   *** empty log message ***
    00039  *
    00040  *   Revision 1.1.4.11  2006/03/30 12:34:56  martius
    00041  *   documentation updated
    00042  *
    00043  *   Revision 1.1.4.10  2006/03/28 14:24:37  fhesse
    00044  *   minor changes
    00045  *
    00046  *   Revision 1.1.4.9  2006/01/31 09:58:11  fhesse
    00047  *   basically working now
    00048  *
    00049  *   Revision 1.1.4.8  2006/01/13 12:22:07  fhesse
    00050  *   partially working
    00051  *
    00052  *   Revision 1.1.4.7  2006/01/10 16:45:53  fhesse
    00053  *   not working osg version
    00054  *
    00055  *   Revision 1.1.4.6  2006/01/10 09:38:00  fhesse
    00056  *   partially moved to osg
    00057  *
    00058  *   Revision 1.1.4.5  2005/12/16 16:36:05  fhesse
    00059  *   manual control via keyboard
    00060  *   setMotors via dJointAddSliderForce
    00061  *
    00062  *   Revision 1.1.4.4  2005/11/24 16:15:57  fhesse
    00063  *   moved from main branch, sensors improved
    00064  *
    00065  *   Revision 1.3  2005/11/17 16:29:25  fhesse
    00066  *   initial version
    00067  *
    00068  *   Revision 1.2  2005/11/15 12:36:27  fhesse
    00069  *   muscles drawn as muscles, sphere drawn at tip of lower arm
    00070  *
    00071  *   Revision 1.1  2005/11/11 15:37:06  fhesse
    00072  *   preinitial version
    00073  *                                                                 *
    00074  *                                                                         *
    00075  ***************************************************************************/
    00076
    00077
    00078 #ifndef __MUSCLEDARM_H
    00079 #define __MUSCLEDARM_H
    00080
    00081 #include "oderobot.h"
    00082 #include <selforg/configurable.h>
    00083 #include "primitive.h"
    00084 #include "joint.h"
    00085
    00086 namespace lpzrobots{
    00087
    00088
    00089
    00090 #define SIDE (0.2)              /* side length of a box */
    00091 #define MASS (1.0)              /* mass of a capped cylinder */
    00092 #define includeMusclesGraphics false
    00093
    00094
    00095   /* Enumeration of different parts and joints */
    00096   // left, right up and down correspond to view from top, when base is on the bottom
    00097   enum parts {base, upperArm, lowerArm,
    00098               mainMuscle11, //left mainMuscle bottom part
    00099               mainMuscle12, //left mainMuscle top part
    00100               mainMuscle21, //right mainMuscle lower part
    00101               mainMuscle22, //right mainMuscle upper part
    00102               smallMuscle11,
    00103               smallMuscle12,
    00104               smallMuscle21,
    00105               smallMuscle22,
    00106               smallMuscle31,
    00107               smallMuscle32,
    00108               smallMuscle41,
    00109               smallMuscle42,
    00110               hand,
    00111               NUMParts};
    00112
    00113   enum joints {HJ_BuA,    // hinge joint between base and upperArm
    00114                HJ_uAlA,   // hinge joint between upperArm and lowerArm
    00115
    00116                HJ_BmM11,  // hinge joint between base and mainMuscle11
    00117                HJ_lAmM12, // hinge joint between lowerArm and mainMuscle12
    00118                HJ_BmM21,  // hinge joint between base and mainMuscle21
    00119                HJ_lAmM22, // hinge joint between lowerArm and mainMuscle22
    00120
    00121                HJ_BsM11,  // hinge joint between base and smallMuscle11
    00122                HJ_uAsM12, // hinge joint between upperArm and smallMuscle12
    00123                HJ_BsM21,  // hinge joint between base and smallMuscle21
    00124                HJ_uAsM22, // hinge joint between upperArm and smallMuscle22
    00125                HJ_lAsM31, // hinge joint between lowerArm and smallMuscle31
    00126                HJ_uAsM32, // hinge joint between upperArm and smallMuscle32
    00127                HJ_lAsM41, // hinge joint between lowerArm and smallMuscle41
    00128                HJ_uAsM42, // hinge joint between upperArm and smallMuscle42
    00129
    00130                SJ_mM1, // sliderJoint between mainMuscle11 and mainMuscle12
    00131                SJ_mM2, // sliderJoint between mainMuscle21 and mainMuscle22
    00132
    00133                SJ_sM1, // slider Joint between smallMuscle11 ans smallMuscle12
    00134                SJ_sM2, // slider Joint between smallMuscle21 ans smallMuscle22
    00135                SJ_sM3, // slider Joint between smallMuscle31 ans smallMuscle32
    00136                SJ_sM4, // slider Joint between smallMuscle41 ans smallMuscle42
    00137
    00138                FJ_lAH, // fixed joint between lowerArm and hand
    00139                NUMJoints};
    00140
    00141
    00142
    00143   typedef struct {
    00144     bool jointAngleSensors; // choose sensors, all combinations are possible
    00145     bool jointAngleRateSensors;
    00146     bool muscleLengthSensors;
    00147     bool jointActuator;  // if true, two motors at the joints are used
    00148                          // if false, six muscles are used
    00149
    00150   } MuscledArmConf;
    00151
    00152   class MuscledArm : public OdeRobot{
    00153   public:
    00154
    00155     double force_[6];
    00156
    00157     MuscledArm(const OdeHandle& odeHandle, const OsgHandle& osgHandle, const MuscledArmConf& conf,
    00158                const std::string& name);
    00159
    00160     static MuscledArmConf getDefaultConf(){
    00161       MuscledArmConf conf;
    00162       conf.jointAngleSensors=false;
    00163       conf.jointAngleRateSensors=true;
    00164       conf.muscleLengthSensors=false;
    00165       conf.jointActuator=false;
    00166       return conf;
    00167     }
    00168
    00169     virtual ~MuscledArm(){};
    00170
    00171
    00172     /// update the subcomponents
    00173     virtual void update();
    00174
    00175
    00176     /** sets the pose of the vehicle
    00177         @param pose desired 4x4 pose matrix
    00178     */
    00179     virtual void place(const osg::Matrix& pose);
    00180
    00181
    00182     /** returns actual sensorvalues
    00183         @param sensors sensors scaled to [-1,1]
    00184         @param sensornumber length of the sensor array
    00185         @return number of actually written sensors
    00186     */
    00187     virtual int getSensors(sensor* sensors, int sensornumber);
    00188
    00189     /** sets actual motorcommands
    00190         @param motors motors scaled to [-1,1]
    00191         @param motornumber length of the motor array
    00192     */
    00193     virtual void setMotors(const motor* motors, int motornumber);
    00194
    00195     /** returns number of sensors
    00196      */
    00197     virtual int getSensorNumber(){
    00198       return sensorno;
    00199     };
    00200
    00201     /** returns number of motors
    00202      */
    00203     virtual int getMotorNumber(){
    00204       return motorno;
    00205     };
    00206
    00207 /*     /\** returns position of hand (=sphere at the end of lower arm)  */
    00208 /*      @return position robot position in struct Position   */
    00209 /*     *\/ */
    00210 /*     virtual osg::Vec3 MuscledArm::getPosition(); */
    00211
    00212     /** returns a vector with the positions of all segments of the robot
    00213         @param poslist vector of positions (of all robot segments)
    00214         @return length of the list
    00215     */
    00216     virtual int getSegmentsPosition(std::vector<Position> &poslist);
    00217
    00218     virtual bool collisionCallback(void *data, dGeomID o1, dGeomID o2);
    00219     /** this function is called in each timestep. It should perform robot-internal checks,
    00220         like space-internal collision detection, sensor resets/update etc.
    00221         @param globalData structure that contains global data from the simulation environment
    00222     */
    00223     virtual void doInternalStuff(const GlobalData& globalData);
    00224
    00225     /** The list of all parameters with there value as allocated lists.
    00226     */
    00227     paramlist getParamList() const;
    00228
    00229     virtual paramval getParam(const paramkey& key) const;
    00230
    00231     virtual bool setParam(const paramkey& key, paramval val);
    00232
    00233     virtual Primitive* getMainObject() const;
    00234
    00235   protected:
    00236     /** the main object of the robot, which is used for position and speed tracking */
    00237     //virtual Primitive* getMainPrimitive() const { return object[lowerArm]; }
    00238     virtual Primitive* getMainPrimitive() const { return object[hand]; }
    00239
    00240     /** creates vehicle at desired pose
    00241         @param pose 4x4 pose matrix
    00242     */
    00243     virtual void create(const osg::Matrix& pose);
    00244
    00245     /** destroys vehicle and space
    00246      */
    00247     virtual void destroy();
    00248
    00249     static void mycallback(void *data, dGeomID o1, dGeomID o2);
    00250
    00251     double dBodyGetPositionAll ( dBodyID basis , int para );
    00252     double dGeomGetPositionAll ( dGeomID basis , int para );
    00253
    00254     void BodyCreate(int n, dMass m, dReal x, dReal y, dReal z,
    00255                     dReal qx, dReal qy, dReal qz, dReal qangle);
    00256
    00257     MuscledArmConf conf;
    00258
    00259     static const int  armanzahl= 3;
    00260
    00261
    00262     Primitive* object[NUMParts];
    00263     Joint* joint[NUMJoints];
    00264
    00265     Position old_dist[NUMParts]; // used for damping
    00266
    00267     paramval factorMotors;
    00268     paramval factorSensors;
    00269     paramval damping;
    00270     paramval print;
    00271
    00272     int segmentsno;    // number of motorsvehicle segments
    00273
    00274
    00275
    00276     double gelenkabstand;
    00277     double SOCKEL_LAENGE;
    00278     double SOCKEL_BREITE;
    00279     double SOCKEL_HOEHE;
    00280     double SOCKEL_MASSE;
    00281
    00282     int sensorno;      //number of sensors
    00283     int motorno;       // number of motors
    00284
    00285     bool created;      // true if robot was created
    00286
    00287
    00288
    00289     dSpaceID parentspace;
    00290
    00291     int printed;
    00292
    00293     double max_l;
    00294     double max_r, min_l, min_r;
    00295
    00296     double base_width;
    00297     double base_length;
    00298     double upperArm_width;
    00299     double upperArm_length;
    00300     double lowerArm_width;
    00301     double lowerArm_length;
    00302     double joint_offset;
    00303     double mainMuscle_width;
    00304     double mainMuscle_length;
    00305     double smallMuscle_width;
    00306     double smallMuscle_length;
    00307
    00308   };
    00309
    00310 }
    00311 #endif