ode_robots Directory Reference
Detailed Description
The ode_robots directory provides all the stuff necessary for the simulations we did with ODE (http://ode.org).
- Simulation Environment
The class lpzrobots::OdeConfig holds the configurable parameters of the simulation environment like gravity, simStepSize, realTimeFactor and so on.
In simulation.h and simulation.cpp you find the start, init and close routines as well as the collision handling etc. of the simulation environment, which are used for all simulations. In the init function you can specify user defined functions if your simulation needs this, possible are:
But you normally do not have to change anything in this files.
- Simulation Objects and more
The things inside the simulation environment (and some additional stuff) is inside the following subdirectories
- simulations : ready to use simulations
- agents: structure to build a "complete" agent (consisting of a controller, a robot and the wiring in between), different wirings
- robots: our robots,creatures, vehicles or whatever you would like to call them are in this directory
- components: create your robots by plugging together different parts (work in progress)
- osg primitives: primitives of which robots and obstacles can be assembled, and further helpful things dealing with OSG
- motors: a few additional motors (PID servos)
- senors: up to now an infrared-sensor and a sensorbank is available
- obstacles: passive obstacles like different kinds of playgrounds, a sphere and usage of terrains
- utils: all the little things that make life easier
- ode_patches: our patches for ODE and drawstuff
- textures: our textures used in the simulations and a program for calculating heigtmaps
- How to Start Your Own Simulation
To start a new project copy one of the "template" directories in the simulations folder. Please note that you have to delete the CVS dirctory inside your copy before you add it to the cvs repository. Or just use the createNewSimulation.sh script in the simulations directory:
$> ./createNewSimulation.sh template_dir newsimname
where template_dir
is the template directory you wish to copy and newsimname
is the name of the new simulation you wish to create.
Now you can adjust the simulation as needed. A simple make (and maybe a make depend before the make) in the simulation directory should be enough. In case your simulation code consists of other files than main.cpp, please add them to FILES in the Makefile in the simulation directory.
If you insert a new file to the simulation framework, such as a new obstacle, robot or similar you DON'T need to do anything. Every *.cpp file in the directories specified in Makefile.conf is compiled and included in the library libode_robots.a. In case you add a new directory with source files, which should be included in the lib, then add it to Makefile.conf.
|
Directories |
directory | agents |
directory | components |
directory | motors |
| Additional motors complementing the offer of ODE.
|
directory | obstacles |
| Obstacles in our simulations are different kinds of boundaries, so called arenas or playgrounds.
|
directory | ode_patches |
| Patches for ODE and drawstuff from the Leipzig Robot Group.
|
directory | osg |
| The osg directory provides the osg primitves of which robots and obstacles are assembled and further helpful things dealing with the visualization in OSG.
|
directory | robots |
| The robots of our simuated worlds "live" in this directory.
|
directory | sensors |
| All sensors should be placed in this folder.
|
directory | simulations |
| The simulations directory contains the different simulations originated from our work on the selforganization issue.
|
directory | textures |
| The textures directory contains the different textures used in the simulations.
|
directory | utils |
Files |
file | compatsim.cpp [code] |
file | compatsim.h [code] |
file | odeconfig.h [code] |
file | ode_robots/README [code] |
| This file is used for the doxygen documentation.
|
file | simulation.cpp [code] |
file | simulation.h [code] |
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