Robot Simulator of the Robotics Group for Self-Organization of Control  0.8.0
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ode_robots Directory Reference

The ode_robots directory provides all the stuff necessary for simulations with the physics engine ODE (


Directory dependency graph for ode_robots:


directory  agents
directory  examples
directory  motors
 Additional motors complementing the offer of ODE.
directory  obstacles
 Obstacles in our simulations are different kinds of boundaries, so called arenas or playgrounds.
directory  ode_patches
 Patches for ODE and drawstuff from the Leipzig Robot Group.
directory  osg
 The osg directory provides the osg primitves of which robots and obstacles are assembled and further helpful things dealing with the visualization in OSG.
directory  robots
 The robots of our simuated worlds "live" in this directory.
directory  sensors
 All sensors should be placed in this folder.
directory  textures
 The textures directory contains the different textures used in the simulations.
directory  utils


file  odeconfig.cpp
file  odeconfig.h [code]
file  ode_robots/README
 This file is used for the doxygen documentation.
file  simulation.cpp
file  simulation.h [code]

Detailed Description

The ode_robots directory provides all the stuff necessary for simulations with the physics engine ODE (

Simulation Environment

The class OdeConfig holds the configurable parameters of the simulation environment like gravity, simStepSize, realTimeFactor and so on.
In the class Simulation you find the functions to overload like start and end which have to be overloaded by all simulations. Additionally you can overload functions like command to react on keystrokes, config for configuration purposes (rarely required) and some more.

Simulation objects and more

The things inside the simulation environment (and some additional stuff) is inside the following subdirectories

How to start your own simulation

To start a new project it is recommended to copy one of the existing simulations from ode_robots/simulations/ e.g. one of the "template" folders. To easy the procedure use the script in the simulations directory:
$> ./ template_dir newsimname
where template_dir is the template directory you wish to copy and newsimname is the name of the new simulation you wish to create. This takes care of your installation type and other things like possible superficial CVS information.


cd ode_robots/simulations
./ template_onerobot mysimulation

For user-type installation you probably want to put the simulation in a separate directory, that means:

./ template_onerobot ~/path/to/simulations/mysimulation

Now you can adjust the simulation as you like. A simple make in the simulation directory should be enough. In case your simulation code consists of other files than main.cpp, please add them to FILES in the Makefile.conf in the simulation directory. You also have to run make depend afterwards!

If you insert a new file to the simulation framework, such as a new obstacle, robot or similar you DON'T need to add them anyvery. Every *.cpp file in the directories specified in Makefile.conf is compiled and included in the library libode_robots.a. In case you add a new directory with source files, which should be included in the lib, then add it to Makefile.conf. In any case run a make in the lpzrobots directory, this creates the neccessary dependency information to ensure a proper build.

How to add a new robot or obstacle or controller to your simulation
  • Locate a similar object in the simulator. You find this under: ode_robots/robots, ode_robots/obstacles, and selforg/controller
  • copy the .h and .cpp file to you simulation folder, e. g. nimm4.cpp and nimm4.h
  • rename it to whatever you like, say myrobot.cpp, myrobot.h
  • modify the code so that the class has the new name, e. g. MyRobot
  • change include directives to have a <ode_robots/ > style.
    #include <ode_robots/primitives.h>
  • add "myrobot" to the Makefile.conf FILES variable
  • run make depend
  • ready to use the stuff in your simulation (use #include "myrobot.h")
Collision control and Materials
Read more here