Robotsystem of the Robot Group Leipzig: uwo.h Source File

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# uwo.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: uwo.h,v $
    00023  *   Revision 1.2  2006/07/14 12:23:42  martius
    00024  *   selforg becomes HEAD
    00025  *
    00026  *   Revision 1.1.2.2  2006/06/25 16:57:17  martius
    00027  *   abstractrobot is configureable
    00028  *   name and revision
    00029  *
    00030  *   Revision 1.1.2.1  2006/06/10 20:13:33  martius
    00031  *   unknown walking object
    00032  *
    00033  *
    00034  *                                                                 *
    00035  ***************************************************************************/
    00036 #ifndef __UWO_H
    00037 #define __UWO_H
    00038
    00039 #include "oderobot.h"
    00040
    00041 namespace lpzrobots {
    00042
    00043   class Primitive;
    00044   class Joint;
    00045   class UniversalServo;
    00046
    00047   typedef struct {
    00048   public:
    00049     double size;       //< scaling factor for robot (diameter of body)
    00050     double legLength;  //< length of the legs in units of size
    00051     int    legNumber;  //<  number of snake elements
    00052     bool   radialLegs; //< joint orientation is radial instead of cartesian
    00053     double mass;       //< chassis mass
    00054     double relLegmass; //< relative overall leg mass
    00055     double jointLimit; //< angle range for legs
    00056     double motorPower; //< maximal force for motors
    00057     double frictionGround; //< friction with the ground
    00058   } UwoConf;
    00059
    00060
    00061   /** UWO: Unknown Walk Object :-), looks like a plate with a lot of legs
    00062    */
    00063   class Uwo : public OdeRobot {
    00064   public:
    00065
    00066     /**
    00067      * constructor of uwo robot
    00068      * @param odeHandle data structure for accessing ODE
    00069      * @param osgHandle ata structure for accessing OSG
    00070      * @param size scaling of robot
    00071      * @param force maximal used force to realize motorcommand
    00072      * @param radialLegs switches between cartensian and radial leg joints
    00073      */
    00074     Uwo(const OdeHandle& odeHandle, const OsgHandle& osgHandle, const UwoConf& conf,
    00075         const std::string& name);
    00076
    00077     virtual ~Uwo(){};
    00078
    00079     static UwoConf getDefaultConf(){
    00080       UwoConf c;
    00081       c.size       = 1;
    00082       c.legNumber  = 8;
    00083       c.legLength  = 0.3;
    00084       c.mass       = 1;
    00085       c.relLegmass = 1;
    00086       c.motorPower = 0.5;
    00087       c.jointLimit = M_PI/12; // +- 15 degree
    00088       c.radialLegs = true;
    00089       c.frictionGround = 1;
    00090       return c;
    00091     }
    00092
    00093     /**
    00094      * updates the OSG nodes of the vehicle
    00095      */
    00096     virtual void update();
    00097
    00098
    00099     /** sets the pose of the vehicle
    00100         @param pose desired pose matrix
    00101     */
    00102     virtual void place(const osg::Matrix& pose);
    00103
    00104     /** returns actual sensorvalues
    00105         @param sensors sensors scaled to [-1,1]
    00106         @param sensornumber length of the sensor array
    00107         @return number of actually written sensors
    00108     */
    00109     virtual int getSensors(sensor* sensors, int sensornumber);
    00110
    00111     /** sets actual motorcommands
    00112         @param motors motors scaled to [-1,1]
    00113         @param motornumber length of the motor array
    00114     */
    00115     virtual void setMotors(const motor* motors, int motornumber);
    00116
    00117     /** returns number of sensors
    00118      */
    00119     virtual int getSensorNumber(){
    00120       return conf.legNumber*2;
    00121     };
    00122
    00123     /** returns number of motors
    00124      */
    00125     virtual int getMotorNumber(){
    00126       return conf.legNumber*2;
    00127     };
    00128
    00129     /** checks for internal collisions and treats them.
    00130      *  In case of a treatment return true (collision will be ignored by other objects
    00131      *  and the default routine)  else false (collision is passed to other objects and
    00132      *  (if not treated) to the default routine).
    00133      */
    00134     virtual bool collisionCallback(void *data, dGeomID o1, dGeomID o2);
    00135
    00136     /** this function is called in each timestep. It should perform robot-internal checks,
    00137         like space-internal collision detection, sensor resets/update etc.
    00138         @param globalData structure that contains global data from the simulation environment
    00139     */
    00140     virtual void doInternalStuff(const GlobalData& globalData);
    00141
    00142
    00143     /** The list of all parameters with there value as allocated lists.
    00144      */
    00145     virtual paramlist getParamList() const;
    00146
    00147     virtual paramval getParam(const paramkey& key) const;;
    00148
    00149     virtual bool setParam(const paramkey& key, paramval val);
    00150
    00151
    00152   protected:
    00153     /** the main object of the robot, which is used for position and speed tracking */
    00154     virtual Primitive* getMainPrimitive() const { return objects[0]; }
    00155
    00156     /** creates vehicle at desired pose
    00157         @param pose 4x4 pose matrix
    00158     */
    00159     virtual void create(const osg::Matrix& pose);
    00160
    00161     /** destroys vehicle and space
    00162      */
    00163     virtual void destroy();
    00164
    00165     UwoConf conf;
    00166     double legmass;    // leg mass
    00167
    00168     bool created;      // true if robot was created
    00169
    00170     std::vector<Primitive*> objects;  // 1 body, legs
    00171     std::vector<Joint*> joints; // joints between cylinder and each legs
    00172     std::vector <UniversalServo*> servos; // motors
    00173
    00174   };
    00175
    00176 }
    00177
    00178 #endif