00001 /** \file 00002 * This file is used for the doxygen documentation. 00003 */ 00004 00005 00006 /** \mainpage Documentation of lpzrobots 00007 00008 \par Organization: 00009 University Leipzig \n 00010 Institute for Computer Science \n 00011 Dept. Intelligent Systems \n 00012 Prof. Dr. Ralf Der \n 00013 Research Group Neuroinformatics und Robotic 00014 00015 \par People: 00016 Ralf Der, Georg Martius, Frank Hesse, Rene Liebscher, 00017 Marcel Kretschmann, Dominic Schneider, Claus Stadler, 00018 Frank Güttler 00019 00020 \section General 00021 00022 This is a collection of algorithms, simulations, and tools 00023 developed by the robot group of the University Leipzig \n 00024 (http://robot.informatik.uni-leipzig.de). 00025 It consists of the following directories (click for details): 00026 - \ref selforg : controllers together with a small framework for using them, 00027 developed in the robotic group of Leipzig university 00028 yielding at self-organized behaviour for various kinds of machines. 00029 - \ref ode_robots : stuff needed for our ODE-simulations 00030 (Open Dynamics Engine, see http://www.ode.org) such as robots, 00031 obstacles, utils, our patches and stuff for visualization with OSG 00032 (OpenSceneGraph, see http://www.openscenegraph.org) 00033 - \ref matrixlib : comfortable matrix library used for calculations e.g. in our controllers 00034 - \ref gnuplot : tool allowing you to use online gnuplot windows within your program 00035 (using pipe for data handover), however \ref guilogger is more comfortable 00036 - \ref guilogger : application that coordinates multiple gnuplot 00037 windows and switches channels on or of, data is sent per pipe from your program 00038 00039 00040 \section Requirements 00041 00042 You need the following software and libraries installed (Tested on Linux x86 machines) 00043 - ODE see http://www.ode.org and augmented with our 00044 \ref ode_robots/ode_patches "patches" 00045 - OpenSceneGraph http://www.openscenegraph.org (version >= 0.9.8) 00046 (Debian includes it in Etch (Testing) and higher) 00047 - Qt library from http://www.trolltech.com for guilogger (version > 3.0) 00048 - avr-gcc and avr-binutils. \n 00049 SuSE packages under: http://robot.informatik.uni-leipzig.de/software/\n 00050 Debian includes them in Etch (Testing) and higher 00051 00052 \section Inst Installation & Startup 00053 00054 - Download source tar ball from 00055 http://robot.informatik.uni-leipzig.de/software . 00056 - Unpack file. 00057 - Change into <tt> lpzrobots </tt> directory 00058 - Call <tt> make </tt> to compile \ref matrixlib and \ref guilogger (not strictly necessary, 00059 only for displaying parameters online) 00060 - Call <tt> make install </tt> to copy <tt> guilogger/bin/guilogger </tt> into the 00061 <tt>/bin</tt> folder of your home directory. (If this does not work copy by hand.) 00062 - To start a simulation go into that simulation directory, call <tt>make</tt> and 00063 <tt>start</tt>. 00064 For example when you want to start the template_onerobot simulation type 00065 <tt>cd ode_robots/simulations/template_onerobot</tt>, then call <tt>make</tt> and after 00066 successful compilation type <tt>start</tt> to start the simulation 00067 - The following command line options are available 00068 (type start -h for the display of this options): \n 00069 Usage: start [-g] [-l] [-r SEED] [-x WxH] [-pause] [-notex] [-noshadow] [-h]\n 00070 \c -g use guilogger\n 00071 \c -l use guilogger with logfile\n 00072 \c -r \c SEED use SEED as random number seed\n 00073 \c -x \c WxH window size of width(W) x height(H) is used (640x480 default)\n 00074 \c -pause start in pause mode\n 00075 \c -notex do not display textures\n 00076 \c -noshadow do not display shadows\n 00077 \c -h display this help 00078 - Have a look at the console after starting the program, 00079 there you will find some further information for the usage of the program. 00080 - For starting your own simulation see paragraph "How to Start Your Own Simulation" 00081 in \ref ode_robots . 00082 - For a well documented examples of a main.cpp of a simulation and a robot .cpp file click 00083 the tab "Examples" at the top of this page. 00084 00085 00086 \section Documentation 00087 00088 - This manual can be found at http://robot.informatik.uni-leipzig.de/software 00089 - More informations on the used self-organization algorithm is available at 00090 http://robot.informatik.uni-leipzig.de/research 00091 - The ODE tutorial of Marcel Kretschmann can be found at 00092 http://robot.informatik.uni-leipzig.de/students \n 00093 (Tar ball with pdf and example code also there available.) 00094 - The original ODE documentation can be found at http://www.ode.org/ode-docs.html 00095 - The OSG documentation can be found at http://www.openscenegraph.org/osgwiki/pmwiki.php/Documentation/Documentation 00096 00097 00098 */