00001 /************************************************************************/ 00002 /*schlangeservo.h */ 00003 /*Snake with PID Servo motors (just motor per joint) */ 00004 /*@author Georg Martius */ 00005 /* */ 00006 /************************************************************************/ 00007 /*************************************************************************** 00008 * Copyright (C) 2005 by Robot Group Leipzig * 00009 * martius@informatik.uni-leipzig.de * 00010 * fhesse@informatik.uni-leipzig.de * 00011 * der@informatik.uni-leipzig.de * 00012 * * 00013 * This program is free software; you can redistribute it and/or modify * 00014 * it under the terms of the GNU General Public License as published by * 00015 * the Free Software Foundation; either version 2 of the License, or * 00016 * (at your option) any later version. * 00017 * * 00018 * This program is distributed in the hope that it will be useful, * 00019 * but WITHOUT ANY WARRANTY; without even the implied warranty of * 00020 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * 00021 * GNU General Public License for more details. * 00022 * * 00023 * You should have received a copy of the GNU General Public License * 00024 * along with this program; if not, write to the * 00025 * Free Software Foundation, Inc., * 00026 * 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. * 00027 * * 00028 * $Log: schlangeservo.h,v $ 00029 * Revision 1.5.4.6 2006/03/30 12:34:56 martius 00030 * documentation updated 00031 * 00032 * Revision 1.5.4.5 2006/02/01 18:33:40 martius 00033 * use Axis type for Joint axis. very important, since otherwise Vec3 * pose is not the right direction vector anymore 00034 * 00035 * Revision 1.5.4.4 2005/12/29 16:46:24 martius 00036 * inherits from Schlange 00037 * moved to osg 00038 * 00039 * Revision 1.5.4.3 2005/11/16 11:26:53 martius 00040 * moved to selforg 00041 * 00042 * Revision 1.5.4.2 2005/11/15 12:29:27 martius 00043 * new selforg structure and OdeAgent, OdeRobot ... 00044 * 00045 * Revision 1.5.4.1 2005/11/14 17:37:18 martius 00046 * moved to selforg 00047 * 00048 * Revision 1.5 2005/11/09 13:24:42 martius 00049 * added GPL 00050 * 00051 * * 00052 ***************************************************************************/ 00053 #ifndef __SCHLANGESERVO_H 00054 #define __SCHLANGESERVO_H 00055 00056 00057 #include "schlange.h" 00058 #include "hingeservo.h" 00059 00060 namespace lpzrobots { 00061 00062 /** 00063 * This is a class, which models a snake like robot. 00064 * It consists of a number of equal elements, each linked 00065 * by a joint hinge powered by 1 servos 00066 **/ 00067 class SchlangeServo: public Schlange 00068 { 00069 private: 00070 vector <HingeServo*> servos; 00071 00072 public: 00073 SchlangeServo ( const OdeHandle& odeHandle, const OsgHandle& osgHandle, 00074 const SchlangeConf& conf, const char* name); 00075 00076 00077 virtual ~SchlangeServo(); 00078 00079 /** 00080 *Reads the actual motor commands from an array, 00081 *an sets all motors of the snake to this values. 00082 *It is an linear allocation. 00083 *@param motors pointer to the array, motor values are scaled to [-1,1] 00084 *@param motornumber length of the motor array 00085 **/ 00086 virtual void setMotors ( const motor* motors, int motornumber ); 00087 00088 /** 00089 *Writes the sensor values to an array in the memory. 00090 *@param sensors pointer to the array 00091 *@param sensornumber length of the sensor array 00092 *@return number of actually written sensors 00093 **/ 00094 virtual int getSensors ( sensor* sensors, int sensornumber ); 00095 00096 /** returns number of sensors 00097 */ 00098 virtual int getSensorNumber() { assert(created); return servos.size(); } 00099 00100 /** returns number of motors 00101 */ 00102 virtual int getMotorNumber(){ assert(created); return servos.size(); } 00103 00104 virtual bool setParam(const paramkey& key, paramval val); 00105 00106 private: 00107 virtual void create(const osg::Matrix& pose); 00108 virtual void destroy(); 00109 }; 00110 00111 } 00112 00113 #endif