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

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# caterpillar.h

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    00001 /**************************************************************************/
    00002 /*schlangeservo.h                                                         */
    00003 /*Snake with PID Servo motors (just motor per joint)                      */
    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  *    frankguettler@gmx.de                                                 *
    00013  *                                                                         *
    00014  *   This program is free software; you can redistribute it and/or modify  *
    00015  *   it under the terms of the GNU General Public License as published by  *
    00016  *   the Free Software Foundation; either version 2 of the License, or     *
    00017  *   (at your option) any later version.                                   *
    00018  *                                                                         *
    00019  *   This program is distributed in the hope that it will be useful,       *
    00020  *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
    00021  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
    00022  *   GNU General Public License for more details.                          *
    00023  *                                                                         *
    00024  *   You should have received a copy of the GNU General Public License     *
    00025  *   along with this program; if not, write to the                         *
    00026  *   Free Software Foundation, Inc.,                                       *
    00027  *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
    00028  *                                                                         *
    00029  *   $Log: caterpillar.h,v $
    00030  *   Revision 1.3  2006/07/20 17:19:44  martius
    00031  *   removed using namespace std from matrix.h
    00032  *
    00033  *   Revision 1.2  2006/07/14 12:23:39  martius
    00034  *   selforg becomes HEAD
    00035  *
    00036  *   Revision 1.1.2.3  2006/05/09 08:46:47  robot3
    00037  *   getSensors() and getMotors() modified
    00038  *
    00039  *   Revision 1.1.2.2  2006/04/11 13:27:00  robot3
    00040  *   caterpillar is using now methods from schlangeservo2
    00041  *
    00042  *   Revision 1.1.2.1  2006/04/11 08:07:43  robot3
    00043  *   first version
    00044  *
    00045  *                                                                         *
    00046  ***************************************************************************/
    00047 #ifndef __CATERPILLAR_H
    00048 #define __CATERPILLAR_H
    00049
    00050 #include "defaultCaterpillar.h"
    00051 #include "universalservo.h"
    00052 #include "sliderservo.h"
    00053
    00054 namespace lpzrobots {
    00055
    00056   /**
    00057    * This is a class, which models a snake like robot.
    00058    * It consists of a number of equal elements, each linked
    00059    * by a joint powered by 2 servos
    00060    **/
    00061   class CaterPillar : public DefaultCaterPillar
    00062     {
    00063   private:
    00064     std::vector <UniversalServo*> universalServos;
    00065     std::vector <SliderServo*> sliderServos;
    00066
    00067   public:
    00068       CaterPillar ( const OdeHandle& odeHandle, const OsgHandle& osgHandle,
    00069                       const CaterPillarConf& conf, const char* name);
    00070
    00071       virtual ~CaterPillar();
    00072
    00073     /**
    00074      *Reads the actual motor commands from an array,
    00075      *an sets all motors of the snake to this values.
    00076      *It is an linear allocation.
    00077      *@param motors pointer to the array, motor values are scaled to [-1,1]
    00078      *@param motornumber length of the motor array
    00079      **/
    00080     virtual void setMotors ( const motor* motors, int motornumber );
    00081
    00082     /**
    00083      *Writes the sensor values to an array in the memory.
    00084      *@param sensors pointer to the array
    00085      *@param sensornumber length of the sensor array
    00086      *@return number of actually written sensors
    00087      **/
    00088     virtual int getSensors ( sensor* sensors, int sensornumber );
    00089
    00090     /** returns number of sensors
    00091      */
    00092     virtual int getSensorNumber() { assert(created); return 2*universalServos.size()+sliderServos.size(); }
    00093
    00094     /** returns number of motors
    00095      */
    00096     virtual int getMotorNumber(){ assert(created); return 2*universalServos.size()+sliderServos.size(); }
    00097
    00098     virtual bool setParam(const paramkey& key, paramval val);
    00099
    00100   private:
    00101     virtual void create(const osg::Matrix& pose);
    00102     virtual void destroy();
    00103   };
    00104
    00105 }
    00106
    00107 #endif