Robotsystem of the Robot Group Leipzig: sphererobot3masses.h Source File

- Main Page
- Namespaces
- Classes
- Files
- Directories
- Examples

- Search for |

- File List
- File Members

# sphererobot3masses.h

Go to the documentation of this file.

    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  ***************************************************************************
    00023  *                                                                         *
    00024  * Spherical Robot inspired by Julius Popp.                                *
    00025  *                                                                         *
    00026  *   $Log: sphererobot3masses.h,v $
    00027  *   Revision 1.4  2006/08/04 15:07:27  martius
    00028  *   documentation
    00029  *
    00030  *   Revision 1.3  2006/07/20 17:19:45  martius
    00031  *   removed using namespace std from matrix.h
    00032  *
    00033  *   Revision 1.2  2006/07/14 12:23:42  martius
    00034  *   selforg becomes HEAD
    00035  *
    00036  *   Revision 1.1.2.4  2006/06/25 16:57:17  martius
    00037  *   abstractrobot is configureable
    00038  *   name and revision
    00039  *
    00040  *   Revision 1.1.2.3  2006/03/30 12:34:57  martius
    00041  *   documentation updated
    00042  *
    00043  *   Revision 1.1.2.2  2006/01/10 17:15:44  martius
    00044  *   removed wrong comment
    00045  *
    00046  *   Revision 1.1.2.1  2006/01/10 17:15:16  martius
    00047  *   was sphererobotarms
    00048  *   moved to osg
    00049  *
    00050  *   Revision 1.10.4.3  2005/11/16 11:26:53  martius
    00051  *   moved to selforg
    00052  *
    00053  *   Revision 1.10.4.2  2005/11/15 12:29:27  martius
    00054  *   new selforg structure and OdeAgent, OdeRobot ...
    00055  *
    00056  *   Revision 1.10.4.1  2005/11/14 17:37:18  martius
    00057  *   moved to selforg
    00058  *
    00059  *   Revision 1.10  2005/11/09 13:27:07  martius
    00060  *   irsensorrange
    00061  *
    00062  *   Revision 1.9  2005/11/07 17:04:56  martius
    00063  *   irsensorscale added
    00064  *
    00065  *   Revision 1.8  2005/11/04 14:45:18  martius
    00066  *   GPL added
    00067  *
    00068  *                                                                 *
    00069  ***************************************************************************/
    00070
    00071 #ifndef __SPHEREROBOT3MASSES_H
    00072 #define __SPHEREROBOT3MASSES_H
    00073
    00074 #include "primitive.h"
    00075 #include "joint.h"
    00076 #include "sliderservo.h"
    00077 #include "oderobot.h"
    00078 #include "raysensorbank.h"
    00079
    00080 namespace lpzrobots {
    00081
    00082   /// configuration object for the Sphererobot3Masses robot.
    00083 typedef struct {
    00084 public:
    00085   double diameter;
    00086   double spheremass;
    00087   double pendulardiameter; /// automatically set
    00088   double pendularmass;
    00089   double pendularrange;
    00090   bool axisZsensor;
    00091   bool axisXYZsensor;
    00092   bool motorsensor;
    00093   bool irAxis1;
    00094   bool irAxis2;
    00095   bool irAxis3;
    00096   bool drawIRs;
    00097   double irsensorscale; /// range of the ir sensors in units of diameter
    00098 } Sphererobot3MassesConf;
    00099
    00100 /**
    00101    A spherical robot with 3 internal masses, which can slide on their orthogonal axes.
    00102    This robot was inspired by Julius Popp (http://sphericalrobots.com)
    00103 */
    00104 class Sphererobot3Masses : public OdeRobot
    00105 {
    00106 public:
    00107   /// enum for the objects of the robot
    00108   typedef enum objects { Base, Pendular1, Pendular2, Pendular3, Last } ;
    00109
    00110 protected:
    00111   static const int servono=3;
    00112
    00113   Primitive* object[Last];
    00114   SliderServo* servo[servono];
    00115   SliderJoint* joint[servono];
    00116   OSGPrimitive* axis[servono];
    00117   double transparency;
    00118   bool created;
    00119
    00120   Sphererobot3MassesConf conf;
    00121   RaySensorBank irSensorBank; /// a collection of ir sensors
    00122
    00123 public:
    00124
    00125   /**
    00126    *constructor
    00127    **/
    00128   Sphererobot3Masses ( const OdeHandle& odeHandle, const OsgHandle& osgHandle,
    00129                        const Sphererobot3MassesConf& conf, const std::string& name, double transparency=0.5 );
    00130
    00131   virtual ~Sphererobot3Masses();
    00132
    00133   /// default configuration
    00134   static Sphererobot3MassesConf getDefaultConf(){
    00135     Sphererobot3MassesConf c;
    00136     c.diameter     = 1;
    00137     c.spheremass   = 0.1;
    00138     c.pendularmass  = 1.0;
    00139     c.pendularrange  = 0.25; // range of the slider from center in multiple of diameter [-range,range]
    00140     c.axisZsensor = true;
    00141     c.axisXYZsensor = false;
    00142     c.motorsensor = false;
    00143     c.irAxis1=false;
    00144     c.irAxis2=false;
    00145     c.irAxis3=false;
    00146     c.drawIRs=true;
    00147     c.irsensorscale=2;
    00148     return c;
    00149   }
    00150
    00151   /// update all primitives and joints
    00152   virtual void update();
    00153
    00154   /** sets the pose of the vehicle
    00155       @param pose desired 4x4 pose matrix
    00156   */
    00157   virtual void place(const osg::Matrix& pose);
    00158
    00159   /**
    00160    *This is the collision handling function for the robot.
    00161    *This overwrides the function collisionCallback of the class robot.
    00162    *@param data (unused)
    00163    *@param o1 first geometrical object, which has taken part in the collision
    00164    *@param o2 second geometrical object, which has taken part in the collision
    00165    *@return true if the collision was threated  by the robot, false if not
    00166    **/
    00167   virtual bool collisionCallback(void *data, dGeomID o1, dGeomID o2);
    00168
    00169   /** this function is called in each timestep. It should perform robot-internal checks,
    00170       like space-internal collision detection, sensor resets/update etc.
    00171       @param globalData structure that contains global data from the simulation environment
    00172    */
    00173   virtual void doInternalStuff(const GlobalData& globalData);
    00174
    00175   /**
    00176    *Writes the sensor values to the given an array.
    00177    *@param sensors pointer to the array
    00178    *@param sensornumber length of the sensor array
    00179    *@return number of actually written sensors (should be sensornumber)
    00180    **/
    00181   virtual int getSensors ( sensor* sensors, int sensornumber );
    00182
    00183   /**
    00184    *Reads the actual motor commands from an array, an sets all motors of the robot to this values.
    00185    *@param motors pointer to the array, motor values are scaled to [-1,1]
    00186    *@param motornumber length of the motor array
    00187    **/
    00188   virtual void setMotors ( const motor* motors, int motornumber );
    00189
    00190   virtual int getMotorNumber();
    00191
    00192   virtual int getSensorNumber();
    00193
    00194
    00195   /** the main object of the robot, which is used for position and speed tracking */
    00196   virtual Primitive* getMainPrimitive() const { return object[Base]; }
    00197
    00198 protected:
    00199
    00200   virtual void create(const osg::Matrix& pose);
    00201   virtual void destroy();
    00202
    00203
    00204 };
    00205
    00206 }
    00207
    00208 #endif