fourwheeled.h

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00001 /***************************************************************************
00002  *   Copyright (C) 2005 by Robot Group Leipzig                             *
00003  *    martius@informatik.uni-leipzig.de                                    *
00004  *    fhesse@informatik.uni-leipzig.de                                     *
00005  *    der@informatik.uni-leipzig.de                                        *
00006  *                                                                         *
00007  *   This program is free software; you can redistribute it and/or modify  *
00008  *   it under the terms of the GNU General Public License as published by  *
00009  *   the Free Software Foundation; either version 2 of the License, or     *
00010  *   (at your option) any later version.                                   *
00011  *                                                                         *
00012  *   This program is distributed in the hope that it will be useful,       *
00013  *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
00014  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
00015  *   GNU General Public License for more details.                          *
00016  *                                                                         *
00017  *   You should have received a copy of the GNU General Public License     *
00018  *   along with this program; if not, write to the                         *
00019  *   Free Software Foundation, Inc.,                                       *
00020  *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
00021  *                                                                         *
00022  *  A robot with 4 wheels based on nimm4 with IR sensors                   *
00023  *                                                                         *
00024  *   $Log: fourwheeled.h,v $
00025  *   Revision 1.5  2010/03/26 14:18:07  martius
00026  *   fourwheeled has a 2 wheeled mode
00027  *   camera position/motion sensor meansure size change
00028  *
00029  *   Revision 1.4  2009/05/11 17:03:07  martius
00030  *   minor substance change
00031  *
00032  *   Revision 1.3  2008/04/23 07:17:16  martius
00033  *   makefiles cleaned
00034  *   new also true realtime factor displayed,
00035  *    warning if out of sync
00036  *   drawinterval in full speed is 10 frames, independent of the speed
00037  *
00038  *   Revision 1.2  2007/11/07 13:21:15  martius
00039  *   doInternal stuff changed signature
00040  *
00041  *   Revision 1.1  2007/08/24 11:49:35  martius
00042  *   initial
00043  *
00044  *                                                                 *
00045  ***************************************************************************/
00046 #ifndef __FOUR_WHEELED__
00047 #define __FOUR_WHEELED__
00048 
00049 #include "nimm4.h"
00050 #include "raysensorbank.h"
00051 
00052 namespace lpzrobots {
00053 
00054   class Primitive; 
00055   class Hinge2Joint; 
00056 
00057   typedef struct {
00058     double size;
00059     double force;
00060     double speed;
00061     bool sphereWheels;
00062     bool useBumper;
00063     bool twoWheelMode; /// < if true then the robot emulates 2 wheels
00064     bool irFront;
00065     bool irBack;
00066     bool irSide;
00067     double irRangeFront;
00068     double irRangeBack;
00069     double irRangeSide;
00070     Substance wheelSubstance;
00071   } FourWheeledConf;
00072   
00073   /** Robot is based on nimm4 with 
00074       4 wheels and a capsule like body   
00075   */
00076   class FourWheeled : public Nimm4{
00077   public:
00078   
00079     /**
00080      * constructor of nimm4 robot
00081      * @param odeHandle data structure for accessing ODE
00082      * @param osgHandle ata structure for accessing OSG
00083      * @param conf configuration structure
00084      * @param name name of the robot
00085      */
00086     FourWheeled(const OdeHandle& odeHandle, const OsgHandle& osgHandle, FourWheeledConf conf, const std::string& name);
00087 
00088     static FourWheeledConf getDefaultConf(){
00089       FourWheeledConf conf;
00090       conf.size         = 1;
00091       conf.force        = 3;
00092       conf.speed        = 15;
00093       conf.sphereWheels = true;
00094       conf.twoWheelMode = false;
00095       conf.useBumper    = true;
00096       conf.irFront      = false;
00097       conf.irBack       = false;
00098       conf.irSide       = false;
00099       conf.irRangeFront = 3;
00100       conf.irRangeSide  = 2;
00101       conf.irRangeBack  = 2;
00102       conf.wheelSubstance.toRubber(40);
00103       return conf;
00104     }
00105 
00106     virtual ~FourWheeled();
00107 
00108     /**
00109      * updates the OSG nodes of the vehicle
00110      */
00111     virtual void update();
00112 
00113     virtual int getSensorNumber();
00114     virtual int getMotorNumber();
00115 
00116     virtual int getSensors(sensor* sensors, int sensornumber);
00117     
00118     virtual void setMotors(const motor* motors, int motornumber);
00119 
00120     /** this function is called in each timestep. It should perform robot-internal checks, 
00121         like space-internal collision detection, sensor resets/update etc.
00122         @param globalData structure that contains global data from the simulation environment
00123     */
00124     virtual void doInternalStuff(GlobalData& globalData);
00125 
00126 
00127   protected:
00128     /** creates vehicle at desired pose
00129         @param pose 4x4 pose matrix
00130     */
00131     virtual void create(const osg::Matrix& pose); 
00132 
00133     /** destroys vehicle and space
00134      */
00135     virtual void destroy();
00136 
00137     FourWheeledConf conf;
00138     RaySensorBank irSensorBank; // a collection of ir sensors
00139     Primitive* bumpertrans;
00140     Primitive* bumper;
00141   };
00142 
00143 }
00144 
00145 #endif
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