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# hurlingsnake.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: hurlingsnake.h,v $
    00023  *   Revision 1.9  2006/07/20 17:19:44  martius
    00024  *   removed using namespace std from matrix.h
    00025  *
    00026  *   Revision 1.8  2006/07/14 15:13:46  fhesse
    00027  *   minor changes
    00028  *
    00029  *   Revision 1.6.4.9  2006/06/25 16:57:13  martius
    00030  *   abstractrobot is configureable
    00031  *   name and revision
    00032  *
    00033  *   Revision 1.6.4.8  2006/03/30 12:34:56  martius
    00034  *   documentation updated
    00035  *
    00036  *   Revision 1.6.4.7  2006/03/30 08:43:05  fhesse
    00037  *   getTracePrimitive removed
    00038  *
    00039  *   Revision 1.6.4.6  2006/03/28 14:20:28  fhesse
    00040  *   getTracePrimitive() added
    00041  *
    00042  *   Revision 1.6.4.5  2005/12/30 22:54:38  martius
    00043  *   removed parentspace!
    00044  *
    00045  *   Revision 1.6.4.4  2005/12/21 17:35:09  martius
    00046  *   moved to osg
    00047  *
    00048  *   Revision 1.6.4.3  2005/11/16 11:26:52  martius
    00049  *   moved to selforg
    00050  *
    00051  *   Revision 1.6.4.2  2005/11/15 12:29:26  martius
    00052  *   new selforg structure and OdeAgent, OdeRobot ...
    00053  *
    00054  *   Revision 1.6.4.1  2005/11/14 17:37:17  martius
    00055  *   moved to selforg
    00056  *
    00057  *   Revision 1.6  2005/11/09 13:26:21  martius
    00058  *   added factorSensor
    00059  *
    00060  *   Revision 1.5  2005/10/06 17:14:24  martius
    00061  *   switched to stl lists
    00062  *
    00063  *   Revision 1.4  2005/09/22 12:24:37  martius
    00064  *   removed global variables
    00065  *   OdeHandle and GlobalData are used instead
    00066  *   sensor prepared
    00067  *
    00068  *   Revision 1.3  2005/08/31 17:18:15  fhesse
    00069  *   setTextures added, Mass is now sphere (not box anymore)
    00070  *
    00071  *   Revision 1.2  2005/07/26 17:04:21  martius
    00072  *   lives in its own space now
    00073  *
    00074  *   Revision 1.1  2005/07/21 12:17:04  fhesse
    00075  *   new hurling snake, todo: add collision space, clean up, comment
    00076  *
    00077  *
    00078  *                                                                 *
    00079  ***************************************************************************/
    00080 #ifndef __HURLINGSNAKE_H
    00081 #define __HURLINGSNAKE_H
    00082
    00083 #include "oderobot.h"
    00084 #include <selforg/configurable.h>
    00085 #include "primitive.h"
    00086 #include "joint.h"
    00087
    00088 namespace lpzrobots {
    00089
    00090   /**
    00091    * Hurling snake is a string a beats.
    00092    *
    00093    */
    00094   class HurlingSnake : public OdeRobot{
    00095   public:
    00096     /**
    00097      * Constructor
    00098      */
    00099     HurlingSnake(const OdeHandle& odeHandle, const OsgHandle& osgHandle, const std::string& name);
    00100
    00101     /// update the subcomponents
    00102     virtual void update();
    00103
    00104     /** sets the pose of the vehicle
    00105         @param pose desired 4x4 pose matrix
    00106     */
    00107     virtual void place(const osg::Matrix& pose);
    00108
    00109     /** checks for internal collisions and treats them.
    00110      *  In case of a treatment return true (collision will be ignored by other objects and the default routine)
    00111      *  else false (collision is passed to other objects and (if not treated) to the default routine).
    00112      */
    00113     virtual bool collisionCallback(void *data, dGeomID o1, dGeomID o2);
    00114     /** this function is called in each timestep. It should perform robot-internal checks,
    00115         like space-internal collision detection, sensor resets/update etc.
    00116         @param globalData structure that contains global data from the simulation environment
    00117     */
    00118     virtual void doInternalStuff(const GlobalData& globalData);
    00119
    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
    00138     /** returns number of motors
    00139      */
    00140     virtual int getMotorNumber();
    00141
    00142     /** returns a vector with the positions of all segments of the robot
    00143         @param poslist vector of positions (of all robot segments)
    00144         @return length of the list
    00145     */
    00146     virtual int getSegmentsPosition(std::vector<Position> &poslist);
    00147
    00148     /** The list of all parameters with there value as allocated lists.
    00149     */
    00150     virtual paramlist getParamList() const;
    00151
    00152     virtual paramval getParam(const paramkey& key) const;
    00153
    00154     virtual bool setParam(const paramkey& key, paramval val);
    00155
    00156   protected:
    00157     /** the main object of the robot, which is used for position and speed tracking */
    00158     virtual Primitive* getMainPrimitive() const { return object[4] /*(center)*/; }
    00159     //virtual Primitive* getMainPrimitive() const { return object[NUM-1] /*(head element)*/; }
    00160
    00161
    00162   private:
    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 robot and space
    00170      */
    00171     virtual void destroy();
    00172
    00173     static void mycallback(void *data, dGeomID o1, dGeomID o2);
    00174
    00175     bool created;      // true if robot was created
    00176
    00177
    00178     Position initial_pos;    // initial position of robot
    00179
    00180     int NUM;       /* number of beats */
    00181     double MASS;           /* mass of a beats */
    00182     double RADIUS;   /* sphere radius */
    00183
    00184     Joint* joint[9];
    00185     Primitive* object[10];
    00186
    00187     Pos oldp;
    00188
    00189     int sensorno;
    00190     int motorno;
    00191
    00192     paramval factorForce;
    00193     paramval frictionGround;
    00194     paramval factorSensor;
    00195
    00196   };
    00197
    00198 }
    00199
    00200 #endif
    00201