00001 /*************************************************************************** 00002 * Copyright (C) 2005-2011 LpzRobots development team * 00003 * Georg Martius <georg dot martius at web dot de> * 00004 * Frank Guettler <guettler at informatik dot uni-leipzig dot de * 00005 * Frank Hesse <frank at nld dot ds dot mpg dot de> * 00006 * Ralf Der <ralfder at mis dot mpg dot de> * 00007 * * 00008 * This program is free software; you can redistribute it and/or modify * 00009 * it under the terms of the GNU General Public License as published by * 00010 * the Free Software Foundation; either version 2 of the License, or * 00011 * (at your option) any later version. * 00012 * * 00013 * This program is distributed in the hope that it will be useful, * 00014 * but WITHOUT ANY WARRANTY; without even the implied warranty of * 00015 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * 00016 * GNU General Public License for more details. * 00017 * * 00018 * You should have received a copy of the GNU General Public License * 00019 * along with this program; if not, write to the * 00020 * Free Software Foundation, Inc., * 00021 * 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. * 00022 * * 00023 ***************************************************************************/ 00024 #ifndef __GRIPPER_H 00025 #define __GRIPPER_H 00026 00027 #include "substance.h" 00028 #include "primitive.h" 00029 #include "color.h" 00030 #include <selforg/configurable.h> 00031 #include <selforg/stl_map.h> 00032 #include <vector> 00033 00034 namespace lpzrobots { 00035 00036 /** 00037 Configure object for Gripper 00038 */ 00039 struct GripperConf { 00040 std::string name; ///< name of gripper for configuration 00041 00042 double gripDuration; ///< time in seconds for how long the gripper grasps 00043 /** releaseDuration time in seconds for how long the gripper 00044 cannot grasp after release */ 00045 double releaseDuration; 00046 Color color; 00047 double size; ///< diameter of the drawn sphere (if 0 nothing is drawn) 00048 /** sphere is drawn at contact point (true) 00049 or at center of attached primitive (false) 00050 */ 00051 bool drawAtContactPoint; 00052 /** if true the last grasped object cannot be directly grasped again 00053 */ 00054 bool forbitLastPrimitive; 00055 // bool incOrExc; ///< include (false) or exclude (true) grippables; 00056 bool fixedOrBallJoint; ///< use fixed joint (true) or ball joint (false) 00057 }; 00058 00059 /** 00060 A gripper can be attached to a primitive via its substance 00061 and implements gripping (a fixed joint) on collision with 00062 specified objects. 00063 Usage: in your robot, create a Gripper object and attach 00064 it to the primitive that grips (e.g. hand). Then you 00065 need make the gripper(s) available to you simulation 00066 in order to set call the addGrippables from there 00067 (e.g. with otherrobot->getAllPrimitives()), see Skeleton. 00068 */ 00069 class Gripper : public Configurable { 00070 public: 00071 /** 00072 @param gripDuration time in seconds for how long the gripper grasps 00073 @param releaseDuration time in seconds for how long the gripper cannot grasp 00074 after release 00075 @param size diameter of the drawn sphere (if 0 nothing is drawn) 00076 @param drawAtContactPoint sphere is drawn at contact point (true) 00077 or at center of attached primitive (false) 00078 */ 00079 Gripper(const GripperConf& conf = getDefaultConf()); 00080 00081 static GripperConf getDefaultConf(){ 00082 GripperConf conf; 00083 conf.name = "Gripper"; 00084 conf.gripDuration = 10; 00085 conf.releaseDuration = 1; 00086 conf.color = Color(1,1,1); 00087 conf.size = 0.2; 00088 conf.drawAtContactPoint = true; 00089 conf.forbitLastPrimitive = true; 00090 conf.fixedOrBallJoint = true; 00091 return conf; 00092 } 00093 00094 /// call this to attach the gripper to the given primitive 00095 bool attach(Primitive* p); 00096 00097 virtual void addGrippables(const std::vector<Primitive*>& ps); 00098 virtual void removeGrippables(const std::vector<Primitive*>& ps); 00099 virtual void removeAllGrippables(); 00100 00101 static int onCollision(dSurfaceParameters& params, GlobalData& globaldata, 00102 void *userdata, 00103 dContact* contacts, int numContacts, 00104 dGeomID o1, dGeomID o2, 00105 const Substance& s1, const Substance& s2); 00106 00107 private: 00108 GripperConf conf; 00109 bool isAttached; 00110 00111 dGeomID last; 00112 HashSet<dGeomID> grippables; 00113 double gripStartTime; 00114 }; 00115 00116 typedef std::vector<Gripper*> GripperList; 00117 00118 } 00119 00120 #endif