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

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# sliderwheelie.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  *    frankguettler@gmx.de                                                 *
    00007  *                                                                         *
    00008  *   This program is free software; you can redistribute it and/or modify  *
    00009  *   it under the terms of the GNU General Public License as published by  *
    00010  *   the Free Software Foundation; either version 2 of the License, or     *
    00011  *   (at your option) any later version.                                   *
    00012  *                                                                         *
    00013  *   This program is distributed in the hope that it will be useful,       *
    00014  *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
    00015  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
    00016  *   GNU General Public License for more details.                          *
    00017  *                                                                         *
    00018  *   You should have received a copy of the GNU General Public License     *
    00019  *   along with this program; if not, write to the                         *
    00020  *   Free Software Foundation, Inc.,                                       *
    00021  *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
    00022  *                                                                         *
    00023  *   $Log: sliderwheelie.h,v $
    00024  *   Revision 1.3  2006/07/20 17:19:44  martius
    00025  *   removed using namespace std from matrix.h
    00026  *
    00027  *   Revision 1.2  2006/07/14 12:23:42  martius
    00028  *   selforg becomes HEAD
    00029  *
    00030  *   Revision 1.1.2.3  2006/06/25 21:57:20  martius
    00031  *   abstractrobot is configureable
    00032  *   name and revision
    00033  *
    00034  *   Revision 1.1.2.2  2006/06/20 07:18:29  robot3
    00035  *   -added cvs log
    00036  *   -changed some behaviour of wheelie
    00037  *
    00038  *                                                                         *
    00039  ***************************************************************************/
    00040 #ifndef __SLIDERWHEELIE_H
    00041 #define __SLIDERWHEELIE_H
    00042
    00043 #include "defaultSliderWheelie.h"
    00044 #include "hingeservo.h"
    00045 #include "sliderservo.h"
    00046
    00047 namespace lpzrobots {
    00048
    00049   /**
    00050    * This is a class, which models an annular robot.
    00051    * It consists of a number of equal elements, each linked
    00052    * by a joint powered by 1 servo
    00053    **/
    00054   class SliderWheelie : public DefaultSliderWheelie
    00055     {
    00056   private:
    00057     std::vector <HingeServo*> hingeServos;
    00058     std::vector <SliderServo*> sliderServos;
    00059
    00060   public:
    00061       SliderWheelie(const OdeHandle& odeHandle, const OsgHandle& osgHandle,
    00062                       const SliderWheelieConf& conf, const std::string& name);
    00063
    00064       virtual ~SliderWheelie();
    00065
    00066     /**
    00067      *Reads the actual motor commands from an array,
    00068      *an sets all motors of the snake to this values.
    00069      *It is an linear allocation.
    00070      *@param motors pointer to the array, motor values are scaled to [-1,1]
    00071      *@param motornumber length of the motor array
    00072      **/
    00073     virtual void setMotors ( const motor* motors, int motornumber );
    00074
    00075     /**
    00076      *Writes the sensor values to an array in the memory.
    00077      *@param sensors pointer to the array
    00078      *@param sensornumber length of the sensor array
    00079      *@return number of actually written sensors
    00080      **/
    00081     virtual int getSensors ( sensor* sensors, int sensornumber );
    00082
    00083     /** returns number of sensors
    00084      */
    00085     virtual int getSensorNumber() { assert(created); return hingeServos.size()+sliderServos.size(); }
    00086
    00087     /** returns number of motors
    00088      */
    00089     virtual int getMotorNumber(){ assert(created); return hingeServos.size()+sliderServos.size(); }
    00090
    00091     virtual bool setParam(const paramkey& key, paramval val);
    00092
    00093   private:
    00094     virtual void create(const osg::Matrix& pose);
    00095     virtual void destroy();
    00096   };
    00097
    00098 }
    00099
    00100 #endif