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# schlange.h

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    00001 /************************************************************************/
    00002 /* schlange.h                                                           */
    00003 /* Abstract class for Snakes                                            */
    00004 /* @author Georg Martius                                                */
    00005 /*                                                                      */
    00006 /************************************************************************/
    00007 /***************************************************************************
    00008  *   Copyright (C) 2005 by Robot Group Leipzig                             *
    00009  *    martius@informatik.uni-leipzig.de                                    *
    00010  *    fhesse@informatik.uni-leipzig.de                                     *
    00011  *    der@informatik.uni-leipzig.de                                        *
    00012  *                                                                         *
    00013  *   This program is free software; you can redistribute it and/or modify  *
    00014  *   it under the terms of the GNU General Public License as published by  *
    00015  *   the Free Software Foundation; either version 2 of the License, or     *
    00016  *   (at your option) any later version.                                   *
    00017  *                                                                         *
    00018  *   This program is distributed in the hope that it will be useful,       *
    00019  *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
    00020  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
    00021  *   GNU General Public License for more details.                          *
    00022  *                                                                         *
    00023  *   You should have received a copy of the GNU General Public License     *
    00024  *   along with this program; if not, write to the                         *
    00025  *   Free Software Foundation, Inc.,                                       *
    00026  *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
    00027  *                                                                         *
    00028  *   $Log: schlange.h,v $
    00029  *   Revision 1.18  2006/07/20 17:19:44  martius
    00030  *   removed using namespace std from matrix.h
    00031  *
    00032  *   Revision 1.17  2006/07/14 13:52:01  der
    00033  *   setheadcolor
    00034  *
    00035  *   Revision 1.15.4.9  2006/06/25 16:57:15  martius
    00036  *   abstractrobot is configureable
    00037  *   name and revision
    00038  *
    00039  *   Revision 1.15.4.8  2006/05/19 09:04:38  der
    00040  *   -setTexture and setHeadTexture added
    00041  *   -uses now whitemetal texture
    00042  *
    00043  *   Revision 1.15.4.7  2006/03/30 12:34:56  martius
    00044  *   documentation updated
    00045  *
    00046  *   Revision 1.15.4.6  2006/03/29 15:08:54  martius
    00047  *   getMainPrimitive is public now
    00048  *
    00049  *   Revision 1.15.4.5  2006/02/23 18:05:04  martius
    00050  *   friction with angularmotor
    00051  *
    00052  *   Revision 1.15.4.4  2006/02/01 18:33:40  martius
    00053  *   use Axis type for Joint axis. very important, since otherwise Vec3 * pose is not the right direction vector anymore
    00054  *
    00055  *   Revision 1.15.4.3  2005/12/30 22:53:13  martius
    00056  *   removed parentspace!
    00057  *
    00058  *   Revision 1.15.4.2  2005/12/29 16:45:46  martius
    00059  *   does not inherit from Roboter
    00060  *   moved to osg
    00061  *
    00062  *
    00063  *                                                                 *
    00064  ***************************************************************************/
    00065 #ifndef __SCHLANGE_H
    00066 #define __SCHLANGE_H
    00067
    00068 #include<vector>
    00069 #include<assert.h>
    00070
    00071 #include"primitive.h"
    00072 #include "joint.h"
    00073 #include "angularmotor.h"
    00074
    00075 #include "oderobot.h"
    00076 #include <selforg/configurable.h>
    00077
    00078 namespace lpzrobots {
    00079
    00080 typedef struct {
    00081 public:
    00082   int    segmNumber;  //<  number of snake elements
    00083   double segmLength;  //< length of one snake element
    00084   double segmDia;     //<  diameter of a snake element
    00085   double segmMass;    //<  mass of one snake element
    00086   double motorPower;  //<  power of the motors / servos
    00087   double sensorFactor;    //<  scale for sensors
    00088   double frictionGround;  //< friction with ground
    00089   double frictionJoint;   //< friction within joint
    00090   double jointLimit;      //< maximal angle for the joints (M_PI/2 = 90 degree)
    00091 } SchlangeConf;
    00092
    00093
    00094 /**
    00095  * This is a class, which models a snake like robot.
    00096  * It consists of a number of equal elements, each linked
    00097  * by a joint
    00098  **/
    00099 class Schlange: public OdeRobot
    00100 {
    00101 protected:
    00102
    00103   bool created;
    00104
    00105   std::vector <Primitive*> objects;
    00106   std::vector <Joint*> joints;
    00107   std::vector <AngularMotor*> frictionmotors;
    00108   SchlangeConf conf;
    00109
    00110 public:
    00111   Schlange ( const OdeHandle& odeHandle, const OsgHandle& osgHandle,
    00112              const SchlangeConf& conf, const std::string& name, const std::string& revision);
    00113
    00114   static SchlangeConf getDefaultConf(){
    00115     SchlangeConf conf;
    00116     conf.segmNumber = 10;    //  number of snake elements
    00117     conf.segmLength = 0.8;   // length of one snake element
    00118     conf.segmDia    = 0.2;   //  diameter of a snake element
    00119     conf.segmMass   = 0.1;//0.4   //  mass of one snake element
    00120     conf.motorPower = 1;    //  power of the servos
    00121     conf.sensorFactor = 1;    //  scale for sensors
    00122     conf.frictionGround = 1.0; // friction with ground
    00123     conf.frictionJoint = 0.1; // friction within joint
    00124     conf.jointLimit =  M_PI/4;
    00125     return conf;
    00126   }
    00127
    00128   virtual ~Schlange();
    00129
    00130
    00131   /** sets the pose of the vehicle
    00132       @param pose desired 4x4 pose matrix
    00133   */
    00134   virtual void place(const osg::Matrix& pose);
    00135
    00136   /// update all primitives and joints
    00137   virtual void update();
    00138
    00139   /**
    00140    *This is the collision handling function for snake robots.
    00141    *This overwrides the function collisionCallback of the class robot.
    00142    *@param data
    00143    *@param o1 first geometrical object, which has taken part in the collision
    00144    *@param o2 second geometrical object, which has taken part in the collision
    00145    *@return true if the collision was threated  by the robot, false if not
    00146    **/
    00147   virtual bool collisionCallback(void *data, dGeomID o1, dGeomID o2);
    00148
    00149   static void mycallback(void *data, dGeomID o1, dGeomID o2);
    00150
    00151   virtual void doInternalStuff(const GlobalData& global);
    00152
    00153   /**
    00154    *Reads the actual motor commands from an array,
    00155    *an sets all motors of the snake to this values.
    00156    *It is an linear allocation.
    00157    *@param motors pointer to the array, motor values are scaled to [-1,1]
    00158    *@param motornumber length of the motor array
    00159    **/
    00160   virtual void setMotors ( const motor* motors, int motornumber ) = 0;
    00161
    00162   /**
    00163    *Writes the sensor values to an array in the memory.
    00164    *@param sensors pointer to the array
    00165    *@param sensornumber length of the sensor array
    00166    *@return number of actually written sensors
    00167    **/
    00168   virtual int getSensors ( sensor* sensors, int sensornumber ) = 0;
    00169
    00170   /** returns number of sensors
    00171    */
    00172   virtual int getSensorNumber() = 0;
    00173
    00174   /** returns number of motors
    00175    */
    00176   virtual int getMotorNumber() = 0;
    00177
    00178   /** returns a vector with the positions of all segments of the robot
    00179       @param poslist vector of positions (of all robot segments)
    00180       @return length of the list
    00181   */
    00182   virtual int getSegmentsPosition(std::vector<Position> &poslist);
    00183
    00184
    00185   /** The list of all parameters with there value as allocated lists.
    00186   */
    00187   virtual paramlist getParamList() const;
    00188
    00189   virtual paramval getParam(const paramkey& key) const;;
    00190
    00191   virtual bool setParam(const paramkey& key, paramval val);
    00192
    00193   /** the main object of the robot, which is used for position and speed tracking */
    00194   virtual Primitive* getMainPrimitive() const {
    00195     if(!objects.empty()){
    00196       //      int half = objects.size()/2;
    00197       //      return (objects[half]);
    00198       return (objects[0]);
    00199     }else return 0;
    00200   }
    00201
    00202   /** sets a texture to the body of the snake
    00203    * note: the head texture of the snake is set by
    00204    * this method too!
    00205    */
    00206   virtual void setTexture(const std::string& filename);
    00207
    00208   /** sets a texture to the head of the snake
    00209    */
    00210   virtual void setHeadTexture(const std::string& filename);
    00211
    00212   /**
    00213    * sets the color of the head element
    00214    */
    00215   virtual void setHeadColor(const Color& color);
    00216
    00217
    00218 protected:
    00219
    00220   /** creates vehicle at desired pose
    00221       @param pose 4x4 pose matrix
    00222   */
    00223   virtual void create(const osg::Matrix& pose);
    00224   virtual void destroy();
    00225 };
    00226
    00227 }
    00228
    00229 #endif