twowheeled.h

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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 __TWO_WHEELED__
00025 #define __TWO_WHEELED__
00026 
00027 #include <ode_robots/nimm2.h>
00028 #include <ode_robots/camera.h>
00029 #include <ode_robots/camerasensor.h>
00030 #include <ode_robots/imageprocessors.h>
00031 #include <ode_robots/sensor.h>
00032 
00033 namespace lpzrobots {
00034 
00035   typedef struct {
00036     Nimm2Conf n2cfg;   ///< configuration for underlying nimm2 robot    
00037     CameraConf camcfg; ///< camera config. Allows to change the image processing
00038     bool useCamera;    ///< whether to use the camera
00039     osg::Matrix camPos; ///< relative pose of the camera
00040     /** camera sensor (converts image to sensor data) 
00041         (if NULL then DirectCameraSensor() is used) */
00042     CameraSensor* camSensor; 
00043     /// list of sensors that are mounted at the robot. (e.g.\ AxisOrientationSensor)
00044     std::list<Sensor*> sensors; 
00045     /// adds a sensor to the list of sensors
00046     void addSensor(Sensor* s) { sensors.push_back(s); }        
00047   } TwoWheeledConf;
00048   
00049   /** Robot is based on nimm2 with 
00050       a camera installed
00051   */
00052   class TwoWheeled : public Nimm2{
00053   public:
00054   
00055     /**
00056      * constructor of twowheeled robot
00057      * @param odeHandle data structure for accessing ODE
00058      * @param osgHandle ata structure for accessing OSG
00059      * @param conf configuration structure
00060      * @param name name of the robot
00061      */
00062     TwoWheeled(const OdeHandle& odeHandle, const OsgHandle& osgHandle, 
00063                TwoWheeledConf conf, const std::string& name);
00064 
00065     static TwoWheeledConf getDefaultConf(){
00066       TwoWheeledConf conf;
00067       conf.n2cfg = Nimm2::getDefaultConf();
00068       conf.camcfg = Camera::getDefaultConf();
00069       conf.camcfg.width = 256;
00070       conf.camcfg.height = 64;
00071       conf.camcfg.fov    =  90;
00072       conf.camcfg.camSize = 0.08;
00073       conf.camcfg.processors.push_back(new HSVImgProc(false,1));
00074       // filter only Yellow color
00075       conf.camcfg.processors.push_back(new ColorFilterImgProc(true, .5, 
00076                              HSVImgProc::Red+20, HSVImgProc::Green-20,100));
00077       // only two sensors for left and right visual field
00078       conf.camcfg.processors.push_back(new LineImgProc(true,20, 2));    
00079       conf.useCamera = true;
00080       conf.camPos    = osg::Matrix::rotate(M_PI/2,0,0,1) 
00081         * osg::Matrix::translate(-0.20,0,0.40);
00082       conf.camSensor = 0;      
00083       return conf;
00084     }
00085 
00086     virtual ~TwoWheeled();
00087 
00088     virtual void update();
00089 
00090     virtual int getSensorNumber();
00091 
00092     virtual int getSensors(sensor* sensors, int sensornumber);
00093 
00094     virtual void sense(GlobalData& globalData);
00095 
00096 
00097   protected:
00098     /** creates vehicle at desired pose
00099         @param pose 4x4 pose matrix
00100     */
00101     virtual void create(const osg::Matrix& pose); 
00102 
00103     /** destroys vehicle and space
00104      */
00105     virtual void destroy();
00106 
00107     TwoWheeledConf conf;
00108     CameraSensor* camsensor;
00109     Camera* cam;
00110   };
00111 
00112 }
00113 
00114 #endif
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