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# nimm4.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: nimm4.h,v $
    00023  *   Revision 1.6  2006/07/14 12:23:41  martius
    00024  *   selforg becomes HEAD
    00025  *
    00026  *   Revision 1.5.4.13  2006/06/25 16:57:14  martius
    00027  *   abstractrobot is configureable
    00028  *   name and revision
    00029  *
    00030  *   Revision 1.5.4.12  2006/04/04 14:13:24  fhesse
    00031  *   documentation improved
    00032  *
    00033  *   Revision 1.5.4.11  2006/03/31 16:20:28  fhesse
    00034  *   class Joint; changed to: class Hinge2Joint;
    00035  *
    00036  *   Revision 1.5.4.10  2006/03/30 12:34:56  martius
    00037  *   documentation updated
    00038  *
    00039  *   Revision 1.5.4.9  2005/12/15 17:04:08  martius
    00040  *   Primitives are not longer inherited from OSGPrimitive, moreover
    00041  *   they aggregate them.
    00042  *   Joint have better getter and setter
    00043  *
    00044  *   Revision 1.5.4.8  2005/12/14 15:37:09  martius
    00045  *   robots are working with osg
    00046  *
    00047  *   Revision 1.5.4.7  2005/12/13 18:11:40  martius
    00048  *   still trying to port robots
    00049  *
    00050  *   Revision 1.5.4.6  2005/12/12 23:41:19  martius
    00051  *   added Joint wrapper
    00052  *
    00053  *   Revision 1.5.4.5  2005/12/11 23:35:08  martius
    00054  *   *** empty log message ***
    00055  *
    00056  *   Revision 1.5.4.4  2005/12/06 10:13:25  martius
    00057  *   openscenegraph integration started
    00058  *
    00059  *   Revision 1.5.4.3  2005/11/16 11:26:52  martius
    00060  *   moved to selforg
    00061  *
    00062  *   Revision 1.5.4.2  2005/11/15 12:29:26  martius
    00063  *   new selforg structure and OdeAgent, OdeRobot ...
    00064  *
    00065  *   Revision 1.5.4.1  2005/11/14 17:37:18  martius
    00066  *   moved to selforg
    00067  *
    00068  *   Revision 1.5  2005/10/27 16:10:41  fhesse
    00069  *   nimm4 as example
    00070  *
    00071  *   Revision 1.4  2005/09/22 12:24:37  martius
    00072  *   removed global variables
    00073  *   OdeHandle and GlobalData are used instead
    00074  *   sensor prepared
    00075  *
    00076  *   Revision 1.3  2005/08/31 11:14:06  martius
    00077  *   removed unused vars
    00078  *
    00079  *   Revision 1.2  2005/08/03 20:38:56  martius
    00080  *   added textures and correct placement
    00081  *
    00082  *   Revision 1.1  2005/07/29 15:13:11  martius
    00083  *   a robot with 4 independent wheels
    00084  *
    00085  *                                                                 *
    00086  ***************************************************************************/
    00087 #ifndef __NIMM4_H
    00088 #define __NIMM4_H
    00089
    00090 #include "oderobot.h"
    00091
    00092 namespace lpzrobots {
    00093
    00094   class Primitive;
    00095   class Hinge2Joint;
    00096
    00097   /** Robot that looks like a Nimm 2 Bonbon :-)
    00098       4 wheels and a capsule like body
    00099   */
    00100   class Nimm4 : public OdeRobot{
    00101   public:
    00102
    00103     /**
    00104      * constructor of nimm4 robot
    00105      * @param odeHandle data structure for accessing ODE
    00106      * @param osgHandle ata structure for accessing OSG
    00107      * @param size scaling of robot
    00108      * @param force maximal used force to realize motorcommand
    00109      * @param speed factor for changing speed of robot
    00110      * @param sphereWheels switches between spheres and  'normal' wheels
    00111      */
    00112     Nimm4(const OdeHandle& odeHandle, const OsgHandle& osgHandle, const std::string& name,
    00113           double size=1, double force=3, double speed=15, bool sphereWheels=true);
    00114
    00115     virtual ~Nimm4(){};
    00116
    00117     /**
    00118      * updates the OSG nodes of the vehicle
    00119      */
    00120     virtual void update();
    00121
    00122
    00123     /** sets the pose of the vehicle
    00124         @param pose desired pose matrix
    00125     */
    00126     virtual void place(const osg::Matrix& pose);
    00127
    00128     /** returns actual sensorvalues
    00129         @param sensors sensors scaled to [-1,1]
    00130         @param sensornumber length of the sensor array
    00131         @return number of actually written sensors
    00132     */
    00133     virtual int getSensors(sensor* sensors, int sensornumber);
    00134
    00135     /** sets actual motorcommands
    00136         @param motors motors scaled to [-1,1]
    00137         @param motornumber length of the motor array
    00138     */
    00139     virtual void setMotors(const motor* motors, int motornumber);
    00140
    00141     /** returns number of sensors
    00142      */
    00143     virtual int getSensorNumber(){
    00144       return sensorno;
    00145     };
    00146
    00147     /** returns number of motors
    00148      */
    00149     virtual int getMotorNumber(){
    00150       return motorno;
    00151     };
    00152
    00153     /** checks for internal collisions and treats them.
    00154      *  In case of a treatment return true (collision will be ignored by other objects
    00155      *  and the default routine)  else false (collision is passed to other objects and
    00156      *  (if not treated) to the default routine).
    00157      */
    00158     virtual bool collisionCallback(void *data, dGeomID o1, dGeomID o2);
    00159
    00160     /** this function is called in each timestep. It should perform robot-internal checks,
    00161         like space-internal collision detection, sensor resets/update etc.
    00162         @param globalData structure that contains global data from the simulation environment
    00163     */
    00164     virtual void doInternalStuff(const GlobalData& globalData);
    00165
    00166
    00167   protected:
    00168     /** the main object of the robot, which is used for position and speed tracking */
    00169     virtual Primitive* getMainPrimitive() const { return object[0]; }
    00170
    00171     /** creates vehicle at desired pose
    00172         @param pose 4x4 pose matrix
    00173     */
    00174     virtual void create(const osg::Matrix& pose);
    00175
    00176     /** destroys vehicle and space
    00177      */
    00178     virtual void destroy();
    00179
    00180     /** additional things for collision handling can be done here
    00181      */
    00182     static void mycallback(void *data, dGeomID o1, dGeomID o2);
    00183
    00184     double length;     // chassis length
    00185     double width;      // chassis width
    00186     double height;     // chassis height
    00187     double radius;     // wheel radius
    00188     double wheelthickness; // thickness of the wheels
    00189     bool sphereWheels; // draw spherical wheels?
    00190     double cmass;      // chassis mass
    00191     double wmass;      // wheel mass
    00192     int sensorno;      // number of sensors
    00193     int motorno;       // number of motors
    00194     int segmentsno;    // number of motorsvehicle segments
    00195     double speed;      // factor for adjusting speed of robot
    00196
    00197     double max_force;  // maximal force for motors
    00198
    00199     bool created;      // true if robot was created
    00200
    00201     Primitive* object[5];  // 1 capsule, 4 wheels
    00202     Hinge2Joint* joint[4]; // joints between cylinder and each wheel
    00203
    00204   };
    00205
    00206 }
    00207
    00208 #endif