Simple example for the creation of a simulated robot (lpzrobots/ode_robots/robots/nimm4.cpp).
/*************************************************************************** * 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. * * * ***************************************************************************/ #include <assert.h> #include <ode-dbl/ode.h> // include primitives (box, spheres, cylinders ...) #include "primitive.h" #include "osgprimitive.h" // include joints #include "joint.h" // include header file #include "nimm4.h" using namespace osg; namespace lpzrobots { // constructor: // - give handle for ODE and OSG stuff // - size of robot, maximal used force and speed factor are adjustable // - sphereWheels switches between spheres or wheels as wheels // (wheels are only drawn, collision handling is always with spheres) Nimm4::Nimm4(const OdeHandle& odeHandle, const OsgHandle& osgHandle, const std::string& name, double size/*=1.0*/, double force /*=3*/, double speed/*=15*/, bool sphereWheels /*=true*/) : // calling OdeRobots construtor with name of the actual robot OdeRobot(odeHandle, osgHandle, name, "$Id$") { // robot is not created till now created=false; // choose color (here the color of the "Nimm Zwei" candy is used, // where the name of the Nimm2 and Nimm4 robots comes from ;-) this->osgHandle.color = Color(2, 156/255.0, 0, 1.0f); // maximal used force is calculated from the force factor and size given to the constructor max_force = force*size*size; // speed and type of wheels are set this->speed = speed; this->sphereWheels = sphereWheels; height=size; length=size/2.5; // length of body width=size/2; // diameter of body radius=size/6; // wheel radius wheelthickness=size/20; // thickness of the wheels (if wheels used, no spheres) cmass=8*size; // mass of the body wmass=size; // mass of the wheels sensorno=4; // number of sensors motorno=4; // number of motors segmentsno=5; // number of segments of the robot wheelsubstance.toRubber(50); }; /** sets actual motorcommands @param motors motors scaled to [-1,1] @param motornumber length of the motor array */ void Nimm4::setMotors(const motor* motors, int motornumber){ assert(created); // robot must exist // the number of controlled motors is minimum of // "number of motorcommands" (motornumber) and // "number of motors inside the robot" (motorno) int len = (motornumber < motorno)? motornumber : motorno; // for each motor the motorcommand (between -1 and 1) multiplied with speed // is set and the maximal force to realize this command are set for (int i=0; i<len; i++){ joints[i]->setParam(dParamVel2, motors[i]*speed); joints[i]->setParam(dParamFMax2, max_force); } }; /** returns actual sensorvalues @param sensors sensors scaled to [-1,1] (more or less) @param sensornumber length of the sensor array @return number of actually written sensors */ int Nimm4::getSensors(sensor* sensors, int sensornumber){ assert(created); // robot must exist // the number of sensors to read is the minimum of // "number of sensors requested" (sensornumber) and // "number of sensors inside the robot" (sensorno) int len = (sensornumber < sensorno)? sensornumber : sensorno; // for each sensor the anglerate of the joint is red and scaled with 1/speed for (int i=0; i<len; i++){ sensors[i]=dynamic_cast<Hinge2Joint*>(joints[i])->getPosition2Rate(); sensors[i]/=speed; //scaling } // the number of red sensors is returned return len; }; void Nimm4::place(const osg::Matrix& pose){ // the position of the robot is the center of the body (without wheels) // to set the vehicle on the ground when the z component of the position is 0 // width*0.6 is added (without this the wheels and half of the robot will be in the ground) Matrix p2; p2 = pose * Matrix::translate(Vec3(0, 0, width*0.6)); create(p2); }; /** * updates the osg notes */ void Nimm4::update(){ assert(created); // robot must exist for (int i=0; i<segmentsno; i++) { // update objects objects[i]->update(); } for (int i=0; i < 4; i++) { // update joints joints[i]->update(); } }; /** this function is called in each timestep. It should perform robot-internal checks, like space-internal collision detection, sensor resets/update etc. @param global structure that contains global data from the simulation environment */ void Nimm4::doInternalStuff(GlobalData& global){} /** creates vehicle at desired pose @param pose matrix with desired position and orientation */ void Nimm4::create( const osg::Matrix& pose ){ if (created) { // if robot exists destroy it destroy(); } // create car space odeHandle.createNewSimpleSpace(parentspace, true); objects.resize(5); // 1 capsule, 4 wheels joints.resize(4); // joints between cylinder and each wheel OdeHandle wheelHandle(odeHandle); // make the material of the wheels a hard rubber wheelHandle.substance = wheelsubstance; // create cylinder for main body // initialize it with ode-, osghandle and mass // rotate and place body (here by -90° around the y-axis) // use texture 'wood' for capsule // put it into objects[0] Capsule* cap = new Capsule(width/2, length); cap->setTexture("Images/wood.rgb"); cap->init(odeHandle, cmass, osgHandle); cap->setPose(Matrix::rotate(-M_PI/2, 0, 1, 0) * pose); objects[0]=cap; // create wheels /* front ----- 1 | | 2 | | | | 3 | | 4 ----- */ for (int i=1; i<5; i++) { // create sphere with radius // and initialize it with odehandle, osghandle and mass // calculate position of wheels(must be at desired positions relative to the body) // rotate and place body (here by 90Deg around the x-axis) // set texture for wheels Sphere* sph = new Sphere(radius); sph->setTexture("Images/wood.rgb"); sph->init(wheelHandle, wmass, osgHandle.changeColor(Color(0.8,0.8,0.8))); Vec3 wpos = Vec3( ((i-1)/2==0?-1:1)*length/2.0, ((i-1)%2==0?-1:1)*(width*0.5+wheelthickness), -width*0.6+radius ); sph->setPose(Matrix::rotate(M_PI/2, 0, 0, 1) * Matrix::translate(wpos) * pose); objects[i]=sph; } // generate 4 joints to connect the wheels to the body for (int i=0; i<4; i++) { Pos anchor(dBodyGetPosition (objects[i+1]->getBody())); joints[i] = new Hinge2Joint(objects[0], objects[i+1], anchor, Axis(0,0,1)*pose, Axis(0,1,0)*pose); joints[i]->init(odeHandle, osgHandle, true, 2.01 * radius); } for (int i=0; i<4; i++) { // set stops to make sure wheels always stay in alignment joints[i]->setParam(dParamLoStop, 0); joints[i]->setParam(dParamHiStop, 0); } created=true; // robot is created }; /** destroys vehicle and space */ void Nimm4::destroy(){ if (created){ cleanup(); odeHandle.deleteSpace(); // destroy space } created=false; // robot does not exist (anymore) } }
1.6.3