oderobot.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  *   $Log: oderobot.h,v $
00023  *   Revision 1.11  2010/03/21 21:48:59  martius
00024  *   camera sensor bugfixing (reference to osghandle)
00025  *   twowheeled robot added (nimm2 with camera)
00026  *   sense function added to robots (before control): sensors (type Sensor) are checked here
00027  *   position and optical flow camera sensors added
00028  *
00029  *   Revision 1.10  2008/05/14 14:36:28  martius
00030  *   *** empty log message ***
00031  *
00032  *   Revision 1.9  2008/05/07 16:45:52  martius
00033  *   code cosmetics and documentation
00034  *
00035  *   Revision 1.8  2008/05/06 17:14:17  martius
00036  *   buildsystem further tuned,
00037  *   help in Makefile
00038  *   osg/data directory is also installed and registered at osg_robots
00039  *
00040  *   Revision 1.7  2007/12/06 10:02:49  der
00041  *   abstractground: returns now cornerpoints
00042  *   abstractobstacle: is now trackable
00043  *   hudstatistics: supports now AbstractmMeasure
00044  *
00045  *   Revision 1.6  2007/11/07 13:21:16  martius
00046  *   doInternal stuff changed signature
00047  *
00048  *   Revision 1.5  2007/04/05 15:11:42  martius
00049  *   angular speed tracking
00050  *
00051  *   Revision 1.4  2006/08/08 17:04:46  martius
00052  *   added new sensor model
00053  *
00054  *   Revision 1.3  2006/07/20 17:19:44  martius
00055  *   removed using namespace std from matrix.h
00056  *
00057  *   Revision 1.2  2006/07/14 12:23:41  martius
00058  *   selforg becomes HEAD
00059  *
00060  *   Revision 1.1.2.17  2006/06/25 16:57:14  martius
00061  *   abstractrobot is configureable
00062  *   name and revision
00063  *
00064  *   Revision 1.1.2.16  2006/06/12 12:59:07  robot8
00065  *   -some corrections to component system (for example now connections are only pushed as pointers to the connection vector)
00066  *   -created the evolution simulation for evolutionary evolution algorithms with atom like structures
00067  *
00068  *   Revision 1.1.2.15  2006/03/30 12:34:56  martius
00069  *   documentation updated
00070  *
00071  *   Revision 1.1.2.14  2006/03/30 09:59:36  fhesse
00072  *   getOsgHandle() removed
00073  *   friend class OdeAgent added
00074  *
00075  *   Revision 1.1.2.13  2006/03/30 09:37:05  fhesse
00076  *   getOsgHandle added
00077  *
00078  *   Revision 1.1.2.12  2006/03/29 15:08:42  martius
00079  *   getMainPrimitive is public now
00080  *
00081  *   Revision 1.1.2.11  2005/12/30 22:54:16  martius
00082  *   collisioncallback must be implemented
00083  *
00084  *   Revision 1.1.2.10  2005/12/14 15:37:09  martius
00085  *   robots are working with osg
00086  *
00087  *   Revision 1.1.2.9  2005/12/13 18:11:40  martius
00088  *   still trying to port robots
00089  *
00090  *   Revision 1.1.2.8  2005/12/13 12:31:46  martius
00091  *   list version of isGeomInPrimitiveList
00092  *
00093  *   Revision 1.1.2.7  2005/12/11 23:35:08  martius
00094  *   *** empty log message ***
00095  *
00096  *   Revision 1.1.2.6  2005/12/06 10:13:25  martius
00097  *   openscenegraph integration started
00098  *
00099  *   Revision 1.1.2.5  2005/11/24 16:20:54  fhesse
00100  *   odeRto3x3RotationMatrix corrected
00101  *
00102  *   Revision 1.1.2.4  2005/11/16 11:26:52  martius
00103  *   moved to selforg
00104  *
00105  *   Revision 1.1.2.3  2005/11/15 12:29:27  martius
00106  *   new selforg structure and OdeAgent, OdeRobot ...
00107  *
00108  *   Revision 1.1.2.2  2005/11/14 17:37:18  martius
00109  *   moved to selforg
00110  *
00111  *   Revision 1.1.2.1  2005/11/14 14:43:52  martius
00112  *   moved from abstractrobot to oderobot
00113  *
00114  *   Revision 1.11  2005/10/06 17:14:24  martius
00115  *   switched to stl lists
00116  *
00117  *   Revision 1.10  2005/09/22 12:24:36  martius
00118  *   removed global variables
00119  *   OdeHandle and GlobalData are used instead
00120  *   sensor prepared
00121  *
00122  *   Revision 1.9  2005/09/22 07:30:53  martius
00123  *   moved color and position into extra modules
00124  *
00125  *   Revision 1.8  2005/09/12 00:10:44  martius
00126  *   position operators are const
00127  *
00128  *   Revision 1.7  2005/08/30 16:53:53  martius
00129  *   Position struct has toArray and operators
00130  *
00131  *   Revision 1.6  2005/08/29 06:40:35  martius
00132  *   added virtual destructor
00133  *
00134  *   Revision 1.5  2005/08/22 20:32:45  martius
00135  *   robot has a name
00136  *
00137  *   Revision 1.4  2005/07/27 13:22:16  martius
00138  *   position and color have constructors
00139  *   ODEHandle
00140  *
00141  *   Revision 1.3  2005/07/18 14:47:41  martius
00142  *   world, space, contactgroup are not pointers anymore.
00143  *
00144  *   Revision 1.2  2005/07/07 09:27:11  martius
00145  *   isGeomInObjectList added
00146  *
00147  *   Revision 1.1  2005/06/15 14:20:04  martius
00148  *   moved into robots
00149  *                                                                 *
00150  ***************************************************************************/
00151 #ifndef __ODEROBOT_H
00152 #define __ODEROBOT_H
00153 
00154 #include <vector>
00155  
00156 #include <selforg/abstractrobot.h>
00157 #include "odehandle.h"
00158 #include "osghandle.h"
00159 #include "globaldata.h"
00160 #include "color.h"
00161 #include "pos.h"
00162 #include "osgforwarddecl.h"
00163 
00164 namespace lpzrobots {
00165   
00166   class Primitive;
00167 
00168   /**
00169    * Abstract class  for ODE robots
00170    * 
00171    */
00172   class OdeRobot : public AbstractRobot {
00173   public:
00174 
00175     friend class OdeAgent;
00176 //    friend class AtomOdeAgent;
00177 
00178     /**
00179      * Constructor
00180      */
00181     OdeRobot(const OdeHandle& odeHandle, const OsgHandle& osgHandle, 
00182              const std::string& name, const std::string& revision);
00183 
00184     virtual ~OdeRobot();
00185 
00186 
00187     /// update the OSG notes here
00188     virtual void update() = 0;
00189 
00190     /** sets the vehicle to position pos
00191         @param pos desired position of the robot
00192     */
00193     virtual void place(const Pos& pos);
00194 
00195     /** sets the pose of the vehicle
00196         @param pose desired 4x4 pose matrix
00197     */
00198     virtual void place(const osg::Matrix& pose) = 0;
00199 
00200     /** @deprecated
00201      *  Do not use it anymore, collision control is done automatically. 
00202      *  In case of a treatment return true 
00203      *  (collision will be ignored by other objects and the default routine)
00204      *  else false (collision is passed to other objects and (if not treated) to the default routine).
00205      */
00206     virtual bool collisionCallback(void *data, dGeomID o1, dGeomID o2){ return false; };
00207 
00208     /** this function is called each controlstep before control. 
00209         This is the place the perform active sensing (e.g. Image processing)
00210         @param globalData structure that contains global data from the simulation environment
00211     */
00212     virtual void sense(GlobalData& globalData) {};
00213 
00214     /** this function is called in each simulation timestep (always after control). It
00215         should perform robot-internal checks and actions
00216         like resetting certain sensors or implement velocity dependend friction and the like.
00217         The attached Motors should act here.
00218         @param globalData structure that contains global data from the simulation environment
00219     */
00220     virtual void doInternalStuff(GlobalData& globalData) {};
00221 
00222     /** sets color of the robot
00223         @param col Color struct with desired Color
00224     */
00225     virtual void setColor(const Color& col);
00226 
00227     
00228     /*********** BEGIN TRACKABLE INTERFACE ****************/
00229     
00230     /** returns position of the object
00231         @return vector of position (x,y,z)
00232     */
00233     virtual Position getPosition() const;
00234     
00235     /** returns linear speed vector of the object
00236         @return vector  (vx,vy,vz)
00237     */
00238     virtual Position getSpeed() const;
00239     
00240     /** returns angular velocity vector of the object
00241         @return vector  (wx,wy,wz)
00242     */
00243     virtual Position getAngularSpeed() const;
00244     
00245     /** returns the orientation of the object
00246         @return 3x3 rotation matrix
00247     */
00248     virtual matrix::Matrix getOrientation() const;
00249     /*********** END TRACKABLE INTERFACE ****************/
00250     
00251     /// return the primitive of the robot that is used for tracking and camera following
00252     virtual Primitive* getMainPrimitive() const  = 0;
00253     
00254   protected:
00255     
00256     static bool isGeomInPrimitiveList(Primitive** ps, int len, dGeomID geom);
00257     static bool isGeomInPrimitiveList(std::list<Primitive*> ps, dGeomID geom);
00258 
00259 
00260   protected:
00261     OdeHandle odeHandle;
00262     OsgHandle osgHandle;
00263     dSpaceID parentspace;
00264   };
00265 
00266 }
00267 
00268 #endif
00269  
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