sphererobotTest.h

Go to the documentation of this file.

/***************************************************************************
 *   Copyright (C) 2005 by Robot Group Leipzig                             *
 *    martius@informatik.uni-leipzig.de                                    *
 *    fhesse@informatik.uni-leipzig.de                                     *
 *    der@informatik.uni-leipzig.de                                        *
 *                                                                         *
 *   This program is free software; you can redistribute it and/or modify  *
 *   it under the terms of the GNU General Public License as published by  *
 *   the Free Software Foundation; either version 2 of the License, or     *
 *   (at your option) any later version.                                   *
 *                                                                         *
 *   This program is distributed in the hope that it will be useful,       *
 *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
 *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
 *   GNU General Public License for more details.                          *
 *                                                                         *
 *   You should have received a copy of the GNU General Public License     *
 *   along with this program; if not, write to the                         *
 *   Free Software Foundation, Inc.,                                       *
 *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
 *                                                                         *
 *   $Log: sphererobotTest.h,v $
 *   Revision 1.6  2006/07/14 12:23:50  martius
 *   selforg becomes HEAD
 *
 *   Revision 1.5.4.2  2006/03/30 12:35:04  martius
 *   documentation updated
 *
 *   Revision 1.5.4.1  2005/11/15 12:29:51  martius
 *   new selforg structure and OdeAgent, OdeRobot ...
 *
 *   Revision 1.5  2005/11/09 13:43:17  fhesse
 *   GPL added
 *                                                                 *
 *                                                                         * 
 ***************************************************************************/
/************************************************************************/
/*shpererobot.h                                                         */
/*Schlangenkonstrukt fuer das ODE-Robotersystem des Authors             */
/*@author Marcel Kretschmann                                            */
/*@version alpha 0.1                                                    */
/*                                                                      */
/************************************************************************/
#ifndef __SPHEREROBOTTest_H
#define __SPHEREROBOTTest_H


#include "sphererobot.h"
#include "sliderservo.h"
#include "roboter.h"

/**
 *This is a class, which models a snake like robot. It consists of a number of equal elements, each linked 
 *by a joint. This class is based upon the class roboter by the same author.
 *@author Marcel Kretschmann
 *@version beta
 **/
class SphererobotTest : public Roboter
{
 public:
  typedef enum objects { Base, Pendular, Pole1Bot, Pole2Bot, Pole3Bot, 
                         Pole1Top , Pole2Top, Pole3Top};

private:
  
  //std::vector<dJointID> skyJoints; // for fixing segment 0 in the sky
  dSpaceID sphererobot_space;
  
  vector<PID*> motorliste2;
  
public:
  SliderServo* servo;
protected:
  SphererobotConf conf;
  double lastJointPos[3];

public:

  //SphererobotTest ();

  /**
   *constructor
   *@param startRoboterID ID, which should be managed clearly
   *@author Marcel Kretschmann
   *@version beta
   **/ 
  SphererobotTest ( int startRoboterID , const OdeHandle& odeHandle, 
                const SphererobotConf& conf );
        
  /**
   *Destruktor
   *@author Marcel Kretschmann
   *@version beta
   **/
  virtual ~SphererobotTest();
        
  static SphererobotConf getStandartConf(){
    SphererobotConf c;
    c.diameter     = 1;
    c.spheremass   = 0.001;
    c.pendulardiameter = 0.2;
    c.pendularmass = 0.3;
    c.slidermass   = 0.0001;
    c.sliderrange  = 0.1; // range of the slider from center in multiple of diameter [-range,range]
    c.hingeRange   = M_PI/180*45;
    return c;
  }

  /**
   *Draws the geometrical objects of the robot.
   *@author Marcel Kretschmann
   *@version beta
   **/
  virtual void draw();
        
  /**Sets the sphere to position pos, sets color to c, and creates sphere if necessary.
   *This overwrides the function place of the class robot.
   *@param pos desired position of the snake in struct Position
   *@param c desired color for the snake in struct Color
   *@author Marcel Kretschmann
   *@version beta
   **/
  virtual void place (Position pos, Color *c = 0);
        
  static void mycallback(void *data, dGeomID o1, dGeomID o2);
  
  /**
   *This is the collision handling function for snake robots.
   *This overwrides the function collisionCallback of the class robot.
   *@param data
   *@param o1 first geometrical object, which has taken part in the collision
   *@param o2 second geometrical object, which has taken part in the collision
   *@return true if the collision was threated  by the robot, false if not
   *@author Marcel Kretschmann
   *@version beta
   **/
  virtual bool collisionCallback(void *data, dGeomID o1, dGeomID o2);
        
  /**
   *Writes the sensor values to an array in the memory.
   *@param sensors pointer to the array
   *@param sensornumber length of the sensor array
   *@return number of actually written sensors
   *@author Marcel Kretschmann
   *@version beta
   **/
  virtual int getSensors ( sensor* sensors, int sensornumber );
        
  /**
   *Reads the actual motor commands from an array, an sets all motors of the snake to this values.
   *It is an linear allocation.
   *@param motors pointer to the array, motor values are scaled to [-1,1] 
   *@param motornumber length of the motor array
   *@author Marcel Kretschmann
   *@version beta
   **/
  virtual void setMotors ( const motor* motors, int motornumber );
        
  /**
   *Returns the number of motors used by the snake.
   *@return number of motors
   *@author Marcel Kretschmann
   *@version final
   **/
  virtual int getMotorNumber();
  
  /**
   *Returns the number of sensors used by the robot.
   *@return number of sensors
   *@author Marcel Kretschmann
   *@version final
   **/
  virtual int getSensorNumber();
        
  /**
   *Updates the sensorarray.
   *This overwrides the function sensoraktualisierung of the class robot
   *@author Marcel Kretschmann
   *@version beta
   **/
  virtual void sensoraktualisierung ( );
                
  /**
   *Prints some internal robot parameters. Actualy it prints all sensor data of one callculation step.
   *@author Marcel Kretschmann
   *@version beta
   **/
  virtual void getStatus ();

 protected:
  virtual Object getMainObject(){ return Object();}

};

#endif

---