Robot ASHIGARU :-) 3 legged robot which could be easily connected each other. More...

#include <ashigaru.h>

Inheritance diagram for Ashigaru:

Collaboration diagram for Ashigaru:

Classes
struct	Leg
	Leg struct. More...

struct	Trunk
	Trunk struct. More...

Public Types
enum	LegPos { L0, L1, L2, LEG_POS_MAX }

enum	LegPosUsage { LEG, WHEEL, UNUSED }

enum	LegJointType { TC, CT, FT, LEG_JOINT_TYPE_MAX }

typedef AshigaruMotorNames	MotorName

typedef AshigaruSensorNames	SensorName

Public Types inherited from AbstractRobot
typedef double	sensor

typedef double	motor

Public Types inherited from Configurable
typedef std::string	paramkey

typedef std::string	paramdescr

typedef double	paramval

typedef std::list< std::pair < paramkey, paramval > >	paramlist

typedef std::map< paramkey, paramval * >	parammap

typedef bool	parambool

typedef std::list< std::pair < paramkey, parambool > >	paramboollist

typedef std::map< paramkey, parambool * >	paramboolmap

typedef int	paramint

typedef std::list< std::pair < paramkey, paramint > >	paramintlist

typedef std::map< paramkey, paramint * >	paramintmap

typedef std::map< paramkey, paramdescr >	paramdescrmap

typedef std::pair< paramval, paramval >	paramvalBounds

typedef std::map< paramkey, paramvalBounds >	paramvalBoundsMap

typedef std::pair< paramint, paramint >	paramintBounds

typedef std::map< paramkey, paramintBounds >	paramintBoundsMap

typedef std::pair< paramkey, paramval * >	paramvalpair

typedef std::pair< paramkey, parambool * >	paramboolpair

typedef std::pair< paramkey, paramint * >	paramintpair

typedef std::vector < Configurable * >	configurableList

Public Types inherited from BackCaller
typedef unsigned long	CallbackableType

Public Types inherited from Inspectable
typedef std::string	iparamkey

typedef double	iparamval

typedef std::pair< iparamkey, iparamval const * >	iparampair

typedef std::pair< iparamkey, std::pair< const matrix::Matrix *, bool > >	imatrixpair

typedef std::list< iparamkey >	iparamkeylist

typedef std::list< std::string >	infoLinesList

typedef std::list< iparamval >	iparamvallist

typedef std::list< iparamval const * >	iparamvalptrlist

typedef std::list< iparampair >	iparampairlist

typedef std::list< imatrixpair >	imatrixpairlist

typedef struct Inspectable::ILayer	ILayer

typedef struct Inspectable::IConnection	IConnection

typedef std::list< ILayer >	ilayerlist

typedef std::list< IConnection >	iconnectionlist

typedef std::list< const Inspectable * >	inspectableList

Public Member Functions
	Ashigaru (const OdeHandle &odehandle, const OsgHandle &osgHandle, const AshigaruConf &conf, const std::string &name)

virtual	~Ashigaru ()

virtual void	update ()
	updates the OSG nodes of the vehicle More...

virtual void	placeIntern (const osg::Matrix &pose)
	sets the pose of the vehicle More...

Primitive *	getTibiaPrimitive (LegPos leg)
	gets Primitives of Leg tibia More...

virtual int	getSensorsIntern (sensor *sensors, int sensornumber)
	returns actual sensorvalues More...

virtual void	setMotorsIntern (const double *motors, int motornumber)
	sets actual motorcommands More...

virtual int	getSensorNumberIntern ()
	returns number of sensors More...

virtual int	getMotorNumberIntern ()
	returns number of motors More...

virtual int	getSegmentsPosition (std::vector< Position > &poslist)
	returns a vector with the positions of all segments of the robot More...

virtual void	doInternalStuff (GlobalData &globalData)
	this function is called in each timestep. More...

virtual void	sense (GlobalData &globalData) override
	this function is called each controlstep before control. More...

virtual double &	getContactPoints ()

Public Member Functions inherited from OdeRobot
	OdeRobot (const OdeHandle &odeHandle, const OsgHandle &osgHandle, const std::string &name, const std::string &revision)
	Constructor. More...

virtual	~OdeRobot ()
	calls cleanup() More...

virtual int	getSensors (double *sensors, int sensornumber) final
	returns actual sensorvalues More...

virtual void	setMotors (const double *motors, int motornumber) final
	sets actual motorcommands More...

virtual int	getSensorNumber () final
	returns number of sensors More...

virtual int	getMotorNumber () final
	returns number of motors More...

virtual std::list < SensorMotorInfo >	getSensorInfos () override
	returns the information for the sensors. More...

virtual std::list < SensorMotorInfo >	getMotorInfos () override
	returns the information for the motors. More...

virtual void	addSensor (std::shared_ptr< Sensor > sensor, Attachment attachment=Attachment())
	adds a sensor to the robot. More...

virtual void	addMotor (std::shared_ptr< Motor > motor, Attachment attachment=Attachment())
	adds a motor to the robot. More...

virtual std::list < SensorAttachment >	getAttachedSensors ()
	returns all generic sensors with their attachment More...

virtual std::list < MotorAttachment >	getAttachedMotors ()
	returns all generic motors with their attachment More...

virtual void	addTorqueSensors (double maxtorque=1.0, int avg=1)
	adds a torque sensor to each joint. Call it after placement of robot. More...

virtual void	place (const Pos &pos) final
	sets the vehicle to position pos More...

virtual void	place (const osg::Matrix &pose) final
	sets the pose of the vehicle More...

virtual bool	collisionCallback (void *data, dGeomID o1, dGeomID o2)

virtual void	setColor (const Color &col)
	sets color of the robot More...

virtual Position	getPosition () const
	returns position of the object More...

virtual Position	getSpeed () const
	returns linear speed vector of the object More...

virtual Position	getAngularSpeed () const
	returns angular velocity vector of the object More...

virtual matrix::Matrix	getOrientation () const
	returns the orientation of the object More...

virtual Primitive *	getMainPrimitive () const
	return the primitive of the robot that is used for tracking and camera following More...

virtual Primitives	getAllPrimitives () const
	returns a list of all primitives of the robot (used to store and restore the robot) More...

virtual Primitives &	getAllPrimitives ()

virtual Joints	getAllJoints () const
	returns a list of all primitives of the robot (const version) (used to store and restore the robot) More...

virtual Joints &	getAllJoints ()

virtual bool	store (FILE *f) const
	returns a list of all joints of the robot (const version) More...

virtual bool	restore (FILE *f)
	loads the object from the given file stream (ASCII preferred). More...

virtual void	moveToPosition (Pos pos=Pos(0, 0, 0.5), int primitiveID=-1)
	relocates robot such its primitive with the given ID is at the new postion (keep current pose). More...

virtual void	moveToPose (Pose pose, int primitiveID=-1)
	relocates robot such its primitive with the given ID is at the new pose (keep relative pose of all primitives). More...

virtual Pose	getInitialPose ()
	returns the initial pose of the main primitive (use it e.g. with moveToPose) More...

virtual Pose	getRelativeInitialPose ()
	returns the initial relative pose of the main primitive (use it with moveToPose to further translate or rotate). More...

virtual void	fixate (GlobalData &global, int primitiveID=-1, double duration=0)
	fixates the given primitive of the robot at its current position to the world for a certain time. More...

virtual bool	unFixate (GlobalData &global)
	release the robot in case it is fixated and return true in this case More...

Public Member Functions inherited from AbstractRobot
	AbstractRobot (const std::string &name="abstractRobot", const std::string &revision="$ID$")
	Constructor. More...

virtual	~AbstractRobot ()

virtual std::string	getTrackableName () const
	returns name of trackable More...

Public Member Functions inherited from Trackable
	Trackable ()
	Constructor. More...

virtual	~Trackable ()

Public Member Functions inherited from Configurable
	Configurable ()

	Configurable (const std::string &name, const std::string &revision)
	intialise with name and revision (use "$ID$") More...

virtual	~Configurable ()

virtual void	notifyOnChange (const paramkey &key)
	Is called when a parameter was changes via setParam(). More...

virtual void	addParameter (const paramkey &key, paramval *val, paramval minBound, paramval maxBound, const paramdescr &descr=paramdescr())
	This is the new style for adding configurable parameters. More...

virtual void	addParameter (const paramkey &key, paramval *val, const paramdescr &descr=paramdescr())
	See addParameter(const paramkey& key, paramval* val, paramval minBound, paramval maxBound, const paramdescr& descr) More...

virtual void	addParameter (const paramkey &key, parambool *val, const paramdescr &descr=paramdescr())
	See addParameter(const paramkey& key, paramval* val) but for bool values. More...

virtual void	addParameter (const paramkey &key, paramint *val, paramint minBound, paramint maxBound, const paramdescr &descr=paramdescr())
	See addParameter(const paramkey& key, paramval* val) but for int values. More...

virtual void	addParameter (const paramkey &key, paramint *val, const paramdescr &descr=paramdescr())

virtual void	addParameterDef (const paramkey &key, paramval *val, paramval def, paramval minBound, paramval maxBound, const paramdescr &descr=paramdescr())
	This function is only provided for convenience. More...

virtual void	addParameterDef (const paramkey &key, paramval *val, paramval def, const paramdescr &descr=paramdescr())

virtual void	addParameterDef (const paramkey &key, parambool *val, parambool def, const paramdescr &descr=paramdescr())
	See addParameterDef(const paramkey&, paramval*, paramval) More...

virtual void	addParameterDef (const paramkey &key, paramint *val, paramint def, paramint minBound, paramint maxBound, const paramdescr &descr=paramdescr())
	See addParameterDef(const paramkey&, paramval*, paramval) More...

virtual void	addParameterDef (const paramkey &key, paramint *val, paramint def, const paramdescr &descr=paramdescr())

virtual void	setParamDescr (const paramkey &key, const paramdescr &descr, bool traverseChildren=true)
	sets a description for the given parameter More...

int	getId () const
	return the id of the configurable objects, which is created by random on initialisation More...

virtual paramkey	getName () const
	return the name of the object More...

virtual paramkey	getRevision () const
	returns the revision of the object More...

virtual void	setName (const paramkey &name, bool callSetNameOfInspectable=true)
	Sets the name of the configurable. More...

virtual void	setRevision (const paramkey &revision)
	sets the revision Hint: { return "$ID$"; } More...

virtual paramval	getParam (const paramkey &key, bool traverseChildren=true) const
	returns the value of the requested parameter or 0 (+ error message to stderr) if unknown. More...

virtual bool	hasParam (const paramkey &key, bool traverseChildren=true) const
	Returns if the requested parameter is part of the configurable or their children. More...

virtual bool	setParam (const paramkey &key, paramval val, bool traverseChildren=true)
	sets the value of the given parameter or does nothing if unknown. More...

virtual void	setParamBounds (const paramkey &key, paramval minBound, paramval maxBound, bool traverseChildren=true)
	Sets the bounds (minBound and maxBound) of the given parameter. More...

virtual void	setParamBounds (const paramkey &key, paramint minBound, paramint maxBound, bool traverseChildren=true)

virtual void	setParamBounds (const paramkey &key, paramvalBounds bounds, bool traverseChildren=true)

virtual void	setParamBounds (const paramkey &key, paramintBounds bounds, bool traverseChildren=true)

virtual paramlist	getParamList () const
	The list of all parameters with there value as allocated lists. More...

virtual std::list< paramkey >	getAllParamNames (bool traverseChildren=true)
	returns all names that are configureable More...

virtual parammap	getParamValMap () const

virtual paramintmap	getParamIntMap () const

virtual paramboolmap	getParamBoolMap () const

virtual paramdescr	getParamDescr (const paramkey &key, bool traverseChildren=true) const
	returns the description for the given parameter More...

virtual paramvalBounds	getParamvalBounds (const paramkey &key, bool traverseChildren=true) const

virtual paramintBounds	getParamintBounds (const paramkey &key, bool traverseChildren=true) const

virtual bool	hasParamDescr (const paramkey &key, bool traverseChildren=true) const

virtual bool	hasParamvalBounds (const paramkey &key, bool traverseChildren=true) const

virtual bool	hasParamintBounds (const paramkey &key, bool traverseChildren=true) const

virtual bool	storeCfg (const char *filenamestem, const std::list< std::string > &comments=std::list< std::string >())
	stores the key values paires into the file : filenamestem.cfg including the comments given in the list More...

virtual bool	restoreCfg (const char *filenamestem)
	restores the key values paires from the file : filenamestem.cfg More...

void	print (FILE f, const char prefix, int columns=90, bool traverseChildren=true) const
	prints the keys, values and descriptions to the file. Each line is prefixed More...

bool	parse (FILE f, const char prefix=0, bool traverseChildren=true)
	parses the configuration from the given file More...

virtual void	addConfigurable (Configurable *conf)
	Adds a configurable as a child object. More...

virtual void	removeConfigurable (Configurable *conf)
	Removes a configurable as a child object. More...

virtual const configurableList &	getConfigurables () const
	Returns the list containing all configurable children. More...

virtual void	configurableChanged ()
	Indicates that the configurable itself or the configurable children attached to this configurable have changed. More...

Public Member Functions inherited from BackCaller
	BackCaller ()

virtual	~BackCaller ()

virtual void	addCallbackable (Callbackable *callbackableInstance, CallbackableType type=BackCaller::DEFAULT_CALLBACKABLE_TYPE)
	Adds a Callbackable instance to this caller instance. More...

virtual void	removeCallbackable (Callbackable *callbackableInstance, CallbackableType type=BackCaller::DEFAULT_CALLBACKABLE_TYPE)
	Removes a Callbackable instance from this caller instance. More...

virtual void	removeAllCallbackables (CallbackableType type)
	Removes all Callbackable instances from this caller instance. More...

virtual void	callBack (CallbackableType type=BackCaller::DEFAULT_CALLBACKABLE_TYPE)
	Calls all registered callbackable classes of the determined type. More...

virtual void	callBackQMP (CallbackableType type=BackCaller::DEFAULT_CALLBACKABLE_TYPE)
	Calls all registered callbackable classes of the determined type. More...

Public Member Functions inherited from Storeable
virtual	~Storeable ()

bool	storeToFile (const char *filename) const
	Provided for convenience. More...

bool	restoreFromFile (const char *filename)
	Provided for convenience. More...

Public Member Functions inherited from Inspectable
	Inspectable (const iparamkey &name="")
	TYPEDEFS END. More...

virtual	~Inspectable ()

virtual iparamkeylist	getInternalParamNames () const
	The list of the names of all internal parameters given by getInternalParams(). More...

virtual iparamvallist	getInternalParams () const

virtual iparamvalptrlist	getInternalParamsPtr () const
	be careful: matrices will be ignored More...

virtual ilayerlist	getStructuralLayers () const
	Specifies which parameter vector forms a structural layer (in terms of a neural network) The ordering is important. More...

virtual iconnectionlist	getStructuralConnections () const
	Specifies which parameter matrix forms a connection between layers (in terms of a neural network) The orderning is not important. More...

virtual void	addInspectableValue (const iparamkey &key, iparamval const *val, const std::string &descr=std::string())
	This is the new style for adding inspectable values. More...

virtual void	addInspectableMatrix (const iparamkey &key, const matrix::Matrix *m, bool only4x4AndDiag=true, const std::string &descr=std::string())
	This is the new style for adding inspectable values. More...

virtual void	addInspectableDescription (const iparamkey &key, const std::string &descr)
	adds a description for the given parameter using info-lines The line will start (appart from the #I) with a D for description followed by the key end then followed by the string. More...

virtual void	addInfoLine (std::string infoLine)
	Adds an info line to this inspectable instance. More...

virtual void	addInfoLines (std::list< std::string > infoLineList)
	Adds a bunch of infolines with addInfoLine to this inspectable instance. More...

virtual void	removeInfoLines ()
	Removes all infolines from this inspectable instance. More...

virtual const infoLinesList &	getInfoLines () const
	Returns all infolines added to this inspectable instance. More...

virtual void	addInspectable (Inspectable *insp)
	Adds an inspectable as a child object. More...

virtual void	removeInspectable (Inspectable *insp)
	Removes an inspectable as a child object. More...

virtual void	setNameOfInspectable (const iparamkey &name)
	set the name of the inspectable More...

virtual const iparamkey	getNameOfInspectable () const
	return the name of the inspectable, getName() would conflict with Configurable::getName() too often More...

virtual const inspectableList &	getInspectables () const
	Returns the list containing all inspectable children. More...

Static Public Member Functions
static AshigaruConf	getDefaultConf ()

static MotorName	getMotorName (LegPos leg, LegJointType joint)

Protected Types
typedef std::map< LegPos, HingeJoint * >	HingeJointMap
	typedefs More...

typedef std::map< LegPos, Leg >	LegMap

typedef std::map< LegPos, ContactSensor * >	LegContactMap

typedef std::map< MotorName, OneAxisServo * >	MotorMap

typedef std::map< MotorName, TorqueSensor * >	MTorqMap

typedef std::vector< Primitive * >	PrimitiveList

typedef std::vector< Joint * >	JointList

typedef std::vector < OneAxisServo * >	ServoList

Protected Member Functions
virtual void	create (const osg::Matrix &pose)
	creates vehicle at desired pose More...

virtual void	destroy ()
	destroys vehicle and space More...

void	nameMotor (const int motorNo, const char *name)
	Assign a human readable name to a motor. More...

void	nameSensor (const int sensorNo, const char *name)
	Assign a human readable name to a sensor. More...

sensor	getTorqueData (TorqueSensor *torqueSensor)

osg::Vec3d	convert_Quat_to_RollPitchYaw (osg::Quat quat)

osg::Vec3d	calc_COGPosition (void)

Protected Member Functions inherited from OdeRobot
void	attachSensor (SensorAttachment &sa)

void	attachMotor (MotorAttachment &ma)

virtual void	cleanup ()
	deletes all objects (primitives) and joints (is called automatically in destructor) More...

Protected Member Functions inherited from Configurable
void	copyParameters (const Configurable &, bool traverseChildren=true)
	copies the internal params of the given configurable More...

void	printdescr (FILE f, const char prefix, const paramkey &key, int columns, int indent) const

Protected Attributes
AshigaruConf	conf
	Inspectable interface. More...

double	contactPoints

bool	created

int	sensorno

int	motorno

Trunk	trunk

LegMap	legs

ServoList	passiveServos

MotorMap	servos

LegContactMap	legContactSensors

MTorqMap	motorTorqSensors

Protected Attributes inherited from OdeRobot
Primitives	objects
	list of objects (should be populated by subclasses) More...

Joints	joints
	list of joints (should be populated by subclasses) More...

std::list< SensorAttachment >	sensors

std::list< MotorAttachment >	motors

TmpJoint *	fixationTmpJoint

Pose	initialPose

Pose	initialRelativePose

OdeHandle	odeHandle

OsgHandle	osgHandle

dSpaceID	parentspace

bool	initialized

bool	askedfornumber

Protected Attributes inherited from Inspectable
iparamkey	name

iparampairlist	mapOfValues

imatrixpairlist	mapOfMatrices

infoLinesList	infoLineStringList

Additional Inherited Members
Static Public Attributes inherited from Configurable
static const CallbackableType	CALLBACK_CONFIGURABLE_CHANGED = 11

Static Public Attributes inherited from BackCaller
static const CallbackableType	DEFAULT_CALLBACKABLE_TYPE = 0
	This is the default Callbackable type. More...

Static Protected Member Functions inherited from OdeRobot
static bool	isGeomInPrimitiveList (Primitive **ps, int len, dGeomID geom)

static bool	isGeomInPrimitiveList (std::list< Primitive * > ps, dGeomID geom)

Detailed Description

Robot ASHIGARU :-) 3 legged robot which could be easily connected each other.

Member Typedef Documentation

typedef std::map<LegPos, HingeJoint*> HingeJointMap

protected

typedefs

typedef std::vector<Joint*> JointList

protected

typedef std::map<LegPos, ContactSensor*> LegContactMap

protected

typedef std::map<LegPos, Leg> LegMap

protected

typedef std::map<MotorName, OneAxisServo*> MotorMap

protected

typedef AshigaruMotorNames MotorName

typedef std::map<MotorName, TorqueSensor*> MTorqMap

protected

typedef std::vector<Primitive*> PrimitiveList

protected

typedef AshigaruSensorNames SensorName

typedef std::vector<OneAxisServo*> ServoList

protected

Member Enumeration Documentation

enum LegJointType

Enumerator
TC
CT
FT
LEG_JOINT_TYPE_MAX

enum LegPos

Enumerator
L0
L1
L2
LEG_POS_MAX

enum LegPosUsage

Enumerator
LEG
WHEEL
UNUSED

Constructor & Destructor Documentation

Ashigaru	(	const OdeHandle &	odehandle,
		const OsgHandle &	osgHandle,
		const AshigaruConf &	conf,
		const std::string &	name
	)

~Ashigaru ( )

virtual

Member Function Documentation

osg::Vec3d calc_COGPosition ( void )

protected

osg::Vec3d convert_Quat_to_RollPitchYaw ( osg::Quat quat )

protected

void create ( const osg::Matrix & pose )

protectedvirtual

creates vehicle at desired pose

creates vehicle at desired position

Parameters

pose	4x4 pose matrix
pos	struct Position with desired position

void destroy ( )

protectedvirtual

destroys vehicle and space

destroys ASHIGARU and space

void doInternalStuff ( GlobalData & globalData )

virtual

this function is called in each timestep.

It should perform robot-internal checks, like space-internal collision detection, sensor resets/update etc.

Parameters

globalData structure that contains global data from the simulation environment

Reimplemented from OdeRobot.

virtual double& getContactPoints ( )

inlinevirtual

AshigaruConf getDefaultConf ( )

static

Ashigaru::MotorName getMotorName	(	LegPos	leg,
		LegJointType	joint
	)

static

virtual int getMotorNumberIntern ( )

inlinevirtual

returns number of motors

Reimplemented from OdeRobot.

int getSegmentsPosition ( std::vector< Position > & poslist )

virtual

returns a vector with the positions of all segments of the robot

Parameters

poslist vector of positions (of all robot segments)

Returns: length of the list

virtual int getSensorNumberIntern ( )

inlinevirtual

returns number of sensors

Reimplemented from OdeRobot.

int getSensorsIntern	(	sensor *	sensors,
		int	sensornumber
	)

virtual

returns actual sensorvalues

Parameters

sensors	sensors scaled to [-1,1]
sensornumber	length of the sensor array

Returns: number of actually written sensors

Parameters

sensors	sensors scaled to [-1,1] (more or less)
sensornumber	length of the sensor array

Returns: number of actually written sensors

Reimplemented from OdeRobot.

Primitive * getTibiaPrimitive ( LegPos leg )

gets Primitives of Leg tibia

Parameters

LegPos Number

sensor getTorqueData ( TorqueSensor * torqueSensor )

protected

void nameMotor	(	const int	motorNo,
		const char *	name
	)

protected

Assign a human readable name to a motor.

This name is used for the associated inspectable value as used e.g. in guilogger.

Parameters

motorNo	index of the motor (for standard motors defined by the MotorName enum)
name	human readable name for the motor

void nameSensor	(	const int	sensorNo,
		const char *	name
	)

protected

Assign a human readable name to a sensor.

This name is used for the associated inspectable value as used e.g. in guilogger.

Parameters

motorNo	index of the motor (for standard motors defined by the SensorName enum)
name	human readable name for the sensor

void placeIntern ( const osg::Matrix & pose )

virtual

sets the pose of the vehicle

Parameters

pose	desired 4x4 pose matrix

Implements OdeRobot.

void sense ( GlobalData & globalData )

overridevirtual

this function is called each controlstep before control.

This is the place the perform active sensing (e.g. Image processing). If you overload this function, call the OdeRobot::sense() function.

Parameters

globalData structure that contains global data from the simulation environment

Reimplemented from OdeRobot.

void setMotorsIntern	(	const double *	motors,
		int	motornumber
	)

virtual

sets actual motorcommands

Parameters

motors	motors scaled to [-1,1]
motornumber	length of the motor array

Reimplemented from OdeRobot.

void update ( )

virtual

updates the OSG nodes of the vehicle

updates the osg notes and sensorbank

Reimplemented from OdeRobot.

Member Data Documentation

AshigaruConf conf

protected

Inspectable interface.

double contactPoints

protected

bool created

protected

LegContactMap legContactSensors

protected

LegMap legs

protected

int motorno

protected

MTorqMap motorTorqSensors

protected

ServoList passiveServos

protected

int sensorno

protected

MotorMap servos

protected

Trunk trunk

protected

The documentation for this class was generated from the following files:

Classes

Public Types

Public Member Functions

Static Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation