arm2segm.h

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/***************************************************************************
 *   Copyright (C) 2005-2011 LpzRobots development team                    *
 *    Georg Martius  <georg dot martius at web dot de>                     *
 *    Frank Guettler <guettler at informatik dot uni-leipzig dot de        *
 *    Frank Hesse    <frank at nld dot ds dot mpg dot de>                  *
 *    Ralf Der       <ralfder at mis dot mpg dot 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.             *
 *                                                                         *
 ***************************************************************************/
#ifndef __ARM2SEGM_H
#define __ARM2SEGM_H

#include "oderobot.h"
#include <selforg/configurable.h>
#include <vector>

#include "primitive.h"
#include "joint.h"

#include "angularmotor.h"
namespace lpzrobots{

  typedef struct {
    double max_force;  // maximal force for motors
    int segmentsno;    // number of segments

    double base_mass;  // mass of base
    double base_length;
    double base_width;

    double arm_mass;   // mass of arms
    double arm_width;
    double arm_length;
    double arm_offset; // used for placing of arms

    double joint_offset; // used for placing of arms
  } Arm2SegmConf;



  class Arm2Segm : public OdeRobot{
  public:

    Arm2Segm(const OdeHandle& odeHandle, const OsgHandle& osgHandle, const Arm2SegmConf);

    virtual ~Arm2Segm(){};

    static Arm2SegmConf getDefaultConf(){
      Arm2SegmConf conf;
      conf.max_force=5;       // maximal force for motors
      conf.segmentsno=4;      // number of segments
      conf.base_mass=0.5;     // mass of base segment
      conf.base_length= 0.4;  // length of base segment
      conf.base_width= 0.1;   // width of base segment
      conf.arm_mass=0.1;      // mass of arm elements
      conf.arm_width=0.2;     // width (thickness) of arms
      conf.arm_length = 1.2;  // length of arms
      conf.arm_offset= 0.03;  // offset between arms (so that they do not touch)
      conf.joint_offset=0.2;  // overlapping of arms (to have area for joints)
      return conf;
    }

    /// update the subcomponents
    virtual void update();

    /** sets the pose of the vehicle
        @param pose desired 4x4 pose matrix
    */
    virtual void placeIntern(const osg::Matrix& pose);

    /** returns actual sensorvalues
        @param sensors sensors scaled to [-1,1]
        @param sensornumber length of the sensor array
        @return number of actually written sensors
    */
    virtual int getSensorsIntern(sensor* sensors, int sensornumber);

    /** sets actual motorcommands
        @param motors motors scaled to [-1,1]
        @param motornumber length of the motor array
    */
    virtual void setMotorsIntern(const double* motors, int motornumber);

    /** returns number of sensors
     */
    virtual int getSensorNumberIntern(){
      return sensorno;
    };

    /** returns number of motors
     */
    virtual int getMotorNumberIntern(){
      return motorno;
    };

    /** returns a vector with the positions of all segments of the robot
        @param poslist vector of positions (of all robot segments)
        @return length of the list
    */
    virtual int getSegmentsPosition(std::vector<Position> &poslist);

    /** the main object of the robot, which is used for position and speed tracking */
    virtual Primitive* getMainPrimitive() const;

  protected:

    /** creates vehicle at desired pose
        @param pose 4x4 pose matrix
    */
    virtual void create(const osg::Matrix& pose);

    /** destroys vehicle and space
     */
    virtual void destroy();

    dSpaceID parentspace;

    Arm2SegmConf conf;



    std::vector <AngularMotor1Axis*> amotors;

    std::string name;
    paramval speed;
    paramval factorSensors;

    int sensorno;      //number of sensors
    int motorno;       // number of motors

    bool created;      // true if robot was created
  };
};
#endif