nimm4.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 __NIMM4_H
#define __NIMM4_H

#include "oderobot.h"

namespace lpzrobots {

  class Primitive; 
  class Hinge2Joint; 

  /** Robot that looks like a Nimm 2 Bonbon :-)
      4 wheels and a capsule like body   
      Wheelorder: front left, front right, rear left, rear right

  */
  class Nimm4 : public OdeRobot{
  public:
  
    /**
     * constructor of nimm4 robot
     * @param odeHandle data structure for accessing ODE
     * @param osgHandle ata structure for accessing OSG
     * @param size scaling of robot
     * @param force maximal used force to realize motorcommand
     * @param speed factor for changing speed of robot
     * @param sphereWheels switches between spheres and  'normal' wheels 
     */
    Nimm4(const OdeHandle& odeHandle, const OsgHandle& osgHandle, const std::string& name,
          double size=1, double force=3, double speed=15, bool sphereWheels=true);

    virtual ~Nimm4(){
      destroy();
    };

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


    /** sets the pose of the vehicle
        @param pose desired pose matrix
    */
    virtual void place(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 getSensors(sensor* sensors, int sensornumber);

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

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

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

    /** this function is called in each timestep. It should perform robot-internal checks, 
        like space-internal collision detection, sensor resets/update etc.
        @param globalData structure that contains global data from the simulation environment
    */
    virtual void doInternalStuff(GlobalData& globalData);


  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();

    /** 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;      // factor for adjusting speed of robot

    double max_force;  // maximal force for motors

    bool created;      // true if robot was created

    Substance wheelsubstance; // material of wheel

  };

}

#endif