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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 1.6  2006/07/20 17:19:43  martius
    00024  *   removed using namespace std from matrix.h
    00025  *
    00026  *   Revision 1.5  2006/07/14 12:23:38  martius
    00027  *   selforg becomes HEAD
    00028  *
    00029  *   Revision 1.4.4.7  2006/06/25 16:57:11  martius
    00030  *   abstractrobot is configureable
    00031  *   name and revision
    00032  *
    00033  *   Revision 1.4.4.6  2006/03/30 12:34:56  martius
    00034  *   documentation updated
    00035  *
    00036  *   Revision 1.4.4.5  2006/01/03 13:18:51  fhesse
    00037  *   cleaned up
    00038  *   TODO: in the long run robot disappears (huge sensorvalues)
    00039  *
    00040  *   Revision 1.4.4.4  2006/01/03 10:01:46  fhesse
    00041  *   moved to osg
    00042  *
    00043  *   Revision 1.4.4.3  2005/11/16 11:26:52  martius
    00044  *   moved to selforg
    00045  *
    00046  *   Revision 1.4.4.2  2005/11/15 12:29:26  martius
    00047  *   new selforg structure and OdeAgent, OdeRobot ...
    00048  *
    00049  *   Revision 1.4.4.1  2005/11/14 17:37:17  martius
    00050  *   moved to selforg
    00051  *
    00052  *   Revision 1.4  2005/10/06 17:14:24  martius
    00053  *   switched to stl lists
    00054  *
    00055  *   Revision 1.3  2005/09/22 12:24:36  martius
    00056  *   removed global variables
    00057  *   OdeHandle and GlobalData are used instead
    00058  *   sensor prepared
    00059  *
    00060  *   Revision 1.2  2005/09/20 11:17:29  fhesse
    00061  *   smaller changes, needs clean up and comments
    00062  *
    00063  *   Revision 1.1  2005/07/28 10:22:55  fhesse
    00064  *   initial version,
    00065  *   known bugs: when calling show params an
    00066  *   "pure virtual function called" error  happens
    00067  *
    00068  *
    00069  *                                                                 *
    00070  ***************************************************************************/
    00071 #ifndef __ARM2SEGM_H
    00072 #define __ARM2SEGM_H
    00073
    00074 #include "oderobot.h"
    00075 #include <selforg/configurable.h>
    00076 #include <vector>
    00077
    00078 #include "primitive.h"
    00079 #include "joint.h"
    00080
    00081 #include "angularmotor.h"
    00082 namespace lpzrobots{
    00083
    00084   typedef struct {
    00085     double max_force;  // maximal force for motors
    00086     int segmentsno;    // number of segments
    00087
    00088     double base_mass;  // mass of base
    00089     double base_length;
    00090     double base_width;
    00091
    00092     double arm_mass;   // mass of arms
    00093     double arm_width;
    00094     double arm_length;
    00095     double arm_offset; // used for placing of arms
    00096
    00097     double joint_offset; // used for placing of arms
    00098   } Arm2SegmConf;
    00099
    00100
    00101
    00102   class Arm2Segm : public OdeRobot{
    00103   public:
    00104
    00105     Arm2Segm(const OdeHandle& odeHandle, const OsgHandle& osgHandle, const Arm2SegmConf);
    00106
    00107     virtual ~Arm2Segm(){};
    00108
    00109     static Arm2SegmConf getDefaultConf(){
    00110       Arm2SegmConf conf;
    00111       conf.max_force=5;       // maximal force for motors
    00112       conf.segmentsno=4;      // number of segments
    00113       conf.base_mass=0.5;     // mass of base segment
    00114       conf.base_length= 0.4;  // length of base segment
    00115       conf.base_width= 0.1;   // width of base segment
    00116       conf.arm_mass=0.1;      // mass of arm elements
    00117       conf.arm_width=0.2;     // width (thickness) of arms
    00118       conf.arm_length = 1.2;  // length of arms
    00119       conf.arm_offset= 0.03;  // offset between arms (so that they do not touch)
    00120       conf.joint_offset=0.2;  // overlapping of arms (to have area for joints)
    00121       return conf;
    00122     }
    00123
    00124     /// update the subcomponents
    00125     virtual void update();
    00126
    00127     /** sets the pose of the vehicle
    00128         @param pose desired 4x4 pose matrix
    00129     */
    00130     virtual void place(const osg::Matrix& pose);
    00131
    00132     /** returns actual sensorvalues
    00133         @param sensors sensors scaled to [-1,1]
    00134         @param sensornumber length of the sensor array
    00135         @return number of actually written sensors
    00136     */
    00137     virtual int getSensors(sensor* sensors, int sensornumber);
    00138
    00139     /** sets actual motorcommands
    00140         @param motors motors scaled to [-1,1]
    00141         @param motornumber length of the motor array
    00142     */
    00143     virtual void setMotors(const motor* motors, int motornumber);
    00144
    00145     /** returns number of sensors
    00146      */
    00147     virtual int getSensorNumber(){
    00148       return sensorno;
    00149     };
    00150
    00151     /** returns number of motors
    00152      */
    00153     virtual int getMotorNumber(){
    00154       return motorno;
    00155     };
    00156
    00157     /** returns a vector with the positions of all segments of the robot
    00158         @param poslist vector of positions (of all robot segments)
    00159         @return length of the list
    00160     */
    00161     virtual int getSegmentsPosition(std::vector<Position> &poslist);
    00162
    00163     /** the main object of the robot, which is used for position and speed tracking */
    00164     virtual Primitive* getMainPrimitive() const;
    00165
    00166     virtual bool collisionCallback(void *data, dGeomID o1, dGeomID o2);
    00167     /** this function is called in each timestep. It should perform robot-internal checks,
    00168         like space-internal collision detection, sensor resets/update etc.
    00169         @param globalData structure that contains global data from the simulation environment
    00170     */
    00171     virtual void doInternalStuff(const GlobalData& globalData);
    00172
    00173     /** The list of all parameters with there value as allocated lists.
    00174         @return list of names
    00175     */
    00176     paramlist getParamList() const;
    00177
    00178     virtual paramval getParam(const paramkey& key) const;
    00179
    00180     virtual bool setParam(const paramkey& key, paramval val);
    00181
    00182
    00183   protected:
    00184
    00185     /** creates vehicle at desired pose
    00186         @param pose 4x4 pose matrix
    00187     */
    00188     virtual void create(const osg::Matrix& pose);
    00189
    00190     /** destroys vehicle and space
    00191      */
    00192     virtual void destroy();
    00193
    00194     static void mycallback(void *data, dGeomID o1, dGeomID o2);
    00195
    00196     dSpaceID parentspace;
    00197
    00198     Arm2SegmConf conf;
    00199
    00200     std::vector <Primitive*> objects;
    00201     std::vector <Joint*> joints;
    00202     std::vector <AngularMotor1Axis*> amotors;
    00203
    00204     std::string name;
    00205     paramval speed;
    00206     paramval factorSensors;
    00207
    00208     int sensorno;      //number of sensors
    00209     int motorno;       // number of motors
    00210
    00211     bool created;      // true if robot was created
    00212   };
    00213 };
    00214 #endif