schlangeforce.h

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00001 /************************************************************************/
00002 /*schlangeforce.h                                                       */
00003 /*Snake with torque added to joints                                     */
00004 /*                                                                      */
00005 /************************************************************************/
00006 /***************************************************************************
00007  *   Copyright (C) 2005 by Robot Group Leipzig                             *
00008  *    martius@informatik.uni-leipzig.de                                    *
00009  *    fhesse@informatik.uni-leipzig.de                                     *
00010  *    der@informatik.uni-leipzig.de                                        *
00011  *                                                                         *
00012  *   This program is free software; you can redistribute it and/or modify  *
00013  *   it under the terms of the GNU General Public License as published by  *
00014  *   the Free Software Foundation; either version 2 of the License, or     *
00015  *   (at your option) any later version.                                   *
00016  *                                                                         *
00017  *   This program is distributed in the hope that it will be useful,       *
00018  *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
00019  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
00020  *   GNU General Public License for more details.                          *
00021  *                                                                         *
00022  *   You should have received a copy of the GNU General Public License     *
00023  *   along with this program; if not, write to the                         *
00024  *   Free Software Foundation, Inc.,                                       *
00025  *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
00026  *                                                                         *
00027  *   $Log: schlangeforce.h,v $
00028  *   Revision 1.13.4.5  2006/03/30 12:34:56  martius
00029  *   documentation updated
00030  *
00031  *   Revision 1.13.4.4  2006/02/01 18:33:40  martius
00032  *   use Axis type for Joint axis. very important, since otherwise Vec3 * pose is not the right direction vector anymore
00033  *
00034  *   Revision 1.13.4.3  2006/01/04 17:04:41  fhesse
00035  *   comments originating from old file removed
00036  *
00037  *   Revision 1.13.4.2  2006/01/04 14:46:00  fhesse
00038  *   inherits from Schlange; moved to osg
00039  *
00040  *   Revision 1.13.4.1  2005/11/14 17:37:18  martius
00041  *   moved to selforg
00042  *
00043  *   Revision 1.13  2005/11/14 12:48:43  martius
00044  *   *** empty log message ***
00045  *
00046  *   Revision 1.12  2005/11/09 13:24:42  martius
00047  *   added GPL
00048  *
00049  *                                                                 *
00050  ***************************************************************************/
00051 #ifndef __SCHLANGEFORCE_H
00052 #define __SCHLANGEFORCE_H
00053 
00054 #include "schlange.h"
00055 
00056 namespace lpzrobots {
00057 
00058   /**
00059    * This is a class, which models a snake like robot. 
00060    * It consists of a number of equal elements, each linked 
00061    * by a joint powered by torques added to joints
00062    **/
00063   class SchlangeForce: public Schlange
00064     {
00065     public:
00066       SchlangeForce ( const OdeHandle& odeHandle, const OsgHandle& osgHandle,
00067                       const SchlangeConf& conf, const char* name);
00068 
00069     
00070       virtual ~SchlangeForce();
00071         
00072       /**
00073        *Reads the actual motor commands from an array, 
00074        *an sets all motors of the snake to this values.
00075        *It is an linear allocation.
00076        *@param motors pointer to the array, motor values are scaled to [-1,1] 
00077        *@param motornumber length of the motor array
00078        **/
00079       virtual void setMotors ( const motor* motors, int motornumber );
00080 
00081       /**
00082        *Writes the sensor values to an array in the memory.
00083        *@param sensors pointer to the array
00084        *@param sensornumber length of the sensor array
00085        *@return number of actually written sensors
00086        **/
00087       virtual int getSensors ( sensor* sensors, int sensornumber );
00088         
00089       /** returns number of sensors
00090        */
00091       virtual int getSensorNumber() { assert(created); return joints.size() * 2; }
00092 
00093       /** returns number of motors
00094        */
00095       virtual int getMotorNumber(){ assert(created); return joints.size() * 2; }
00096 
00097     private:
00098       virtual void create(const osg::Matrix& pose);
00099       virtual void destroy();
00100     };
00101 
00102 }
00103 
00104 #endif

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