formel1.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 __FORMEL1_H
#define __FORMEL1_H

#include "oderobot.h"

namespace lpzrobots {

  class Primitive;
  class Joint;

  /** Robot that looks like a Nimm 2 Bonbon :-)
      4 wheels and a capsule like body
  */
  class Formel1 : public OdeRobot{
  public:

    Formel1(const OdeHandle& odeHandle, const OsgHandle& osgHandle,
          double size=1, double force=3, double speed=15, bool sphereWheels=true);

    virtual ~Formel1(){};

    /**
     * updates the OSG nodes of the vehicle
     */
    virtual void update();


    /** sets the pose of the vehicle
        @param pose desired 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(double* 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;
    };


  protected:
    /** the main object of the robot, which is used for position and speed tracking */
    virtual Primitive* getMainPrimitive() const { return object[0]; }

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

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

    /** additional things for collision handling can be done here
     */
    static void mycallback(void *data, dGeomID o1, dGeomID o2);

    double length;  // chassis length
    double width;  // chassis width
    double height;   // chassis height
    double radius;  // wheel radius
    double wheelthickness; // thickness of the wheels
    bool sphereWheels; // draw spherical wheels?
    double cmass;    // chassis mass
    double wmass;    // wheel mass
    int sensorno;      //number of sensors
    int motorno;       // number of motors
    int segmentsno;    // number of motorsvehicle segments
    double speed;    //

    double max_force;        // maximal force for motors

    bool created;      // true if robot was created

    Primitive* object[5];  // 1 capsule, 4 wheels
    Hinge2Joint* joint[4]; // joints between cylinder and each wheel

  };

}


#endif