schlange.h

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00001 /************************************************************************/
00002 /* schlange.h                                                           */
00003 /* Abstract class for Snakes                                            */
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: schlange.h,v $
00029  *   Revision 1.25  2010/01/26 09:55:26  martius
00030  *   new collision model
00031  *
00032  *   Revision 1.24  2009/05/11 15:44:30  martius
00033  *   new velocity servos used
00034  *
00035  *   Revision 1.23  2007/11/07 13:21:16  martius
00036  *   doInternal stuff changed signature
00037  *
00038  *   Revision 1.22  2007/07/03 13:05:23  martius
00039  *   new servo constants
00040  *
00041  *   Revision 1.21  2007/01/26 12:05:04  martius
00042  *   servos combinied into OneAxisServo
00043  *
00044  *   Revision 1.20  2006/12/21 11:43:05  martius
00045  *   commenting style for doxygen //< -> ///<
00046  *   new sensors for spherical robots
00047  *
00048  *   Revision 1.19  2006/09/20 12:56:16  martius
00049  *   Snakes have CreateSegment
00050  *
00051  *   Revision 1.18  2006/07/20 17:19:44  martius
00052  *   removed using namespace std from matrix.h
00053  *
00054  *   Revision 1.17  2006/07/14 13:52:01  der
00055  *   setheadcolor
00056  *
00057  *   Revision 1.15.4.9  2006/06/25 16:57:15  martius
00058  *   abstractrobot is configureable
00059  *   name and revision
00060  *
00061  *   Revision 1.15.4.8  2006/05/19 09:04:38  der
00062  *   -setTexture and setHeadTexture added
00063  *   -uses now whitemetal texture
00064  *
00065  *   Revision 1.15.4.7  2006/03/30 12:34:56  martius
00066  *   documentation updated
00067  *
00068  *   Revision 1.15.4.6  2006/03/29 15:08:54  martius
00069  *   getMainPrimitive is public now
00070  *
00071  *   Revision 1.15.4.5  2006/02/23 18:05:04  martius
00072  *   friction with angularmotor
00073  *
00074  *   Revision 1.15.4.4  2006/02/01 18:33:40  martius
00075  *   use Axis type for Joint axis. very important, since otherwise Vec3 * pose is not the right direction vector anymore
00076  *
00077  *   Revision 1.15.4.3  2005/12/30 22:53:13  martius
00078  *   removed parentspace!
00079  *
00080  *   Revision 1.15.4.2  2005/12/29 16:45:46  martius
00081  *   does not inherit from Roboter
00082  *   moved to osg
00083  *
00084  *
00085  *                                                                 *
00086  ***************************************************************************/
00087 #ifndef __SCHLANGE_H
00088 #define __SCHLANGE_H
00089 
00090 #include<vector>
00091 #include<assert.h>
00092 
00093 #include "primitive.h"
00094 #include "joint.h"
00095 #include "angularmotor.h"
00096 #include "pid.h"
00097 
00098 #include "oderobot.h"
00099 #include <selforg/configurable.h>
00100 
00101 namespace lpzrobots {
00102 
00103 typedef struct {
00104 public:
00105   int    segmNumber;  ///<  number of snake elements
00106   double segmLength;  ///< length of one snake element
00107   double segmDia;     ///<  diameter of a snake element
00108   double segmMass;    ///<  mass of one snake element
00109   double motorPower;  ///<  power of the motors / servos
00110   double sensorFactor;    ///<  scale for sensors
00111   double frictionGround;  ///< friction with ground
00112   double frictionJoint;   ///< friction within joint
00113   double jointLimit;      ///< maximal angle for the joints (M_PI/2 = 90 degree)
00114   bool   useServoVel;     ///< if true the new Servos are used (only for schlangeservo)
00115   double velocity;        ///< maximal velocity of servos
00116 } SchlangeConf;
00117 
00118 
00119 /**
00120  * This is a class, which models a snake like robot. 
00121  * It consists of a number of equal elements, each linked 
00122  * by a joint
00123  **/
00124 class Schlange: public OdeRobot
00125 {
00126 protected:
00127   
00128   bool created;
00129 
00130   std::vector <Primitive*> objects;
00131   std::vector <Joint*> joints;
00132   std::vector <AngularMotor*> frictionmotors;
00133   SchlangeConf conf;
00134 
00135 public:
00136   Schlange ( const OdeHandle& odeHandle, const OsgHandle& osgHandle,
00137              const SchlangeConf& conf, const std::string& name, const std::string& revision);
00138 
00139   static SchlangeConf getDefaultConf(){
00140     SchlangeConf conf;
00141     conf.segmNumber = 10;    //  number of snake elements
00142     conf.segmLength = 0.8;   // length of one snake element
00143     conf.segmDia    = 0.2;   //  diameter of a snake element
00144     conf.segmMass   = 0.1;//0.4   //  mass of one snake element
00145     conf.motorPower = 1;    //  power of the servos
00146     conf.sensorFactor = 1;    //  scale for sensors
00147     conf.frictionGround = 1.0; // friction with ground
00148     conf.frictionJoint = 0.02; // friction within joint
00149     conf.jointLimit =  M_PI/4;
00150     conf.useServoVel = false;
00151     conf.velocity    = 20;     // maximal velocity of servos
00152     return conf;
00153   }
00154 
00155   virtual ~Schlange();
00156         
00157  
00158   /** sets the pose of the vehicle
00159       @param pose desired 4x4 pose matrix
00160   */
00161   virtual void place(const osg::Matrix& pose);
00162 
00163   /// update all primitives and joints
00164   virtual void update();
00165 
00166   virtual void doInternalStuff(GlobalData& global);
00167         
00168   /**
00169    *Reads the actual motor commands from an array, 
00170    *an sets all motors of the snake to this values.
00171    *It is an linear allocation.
00172    *@param motors pointer to the array, motor values are scaled to [-1,1] 
00173    *@param motornumber length of the motor array
00174    **/
00175   virtual void setMotors ( const motor* motors, int motornumber ) = 0;
00176 
00177   /**
00178    *Writes the sensor values to an array in the memory.
00179    *@param sensors pointer to the array
00180    *@param sensornumber length of the sensor array
00181    *@return number of actually written sensors
00182    **/
00183   virtual int getSensors ( sensor* sensors, int sensornumber ) = 0;
00184         
00185   /** returns number of sensors
00186    */
00187   virtual int getSensorNumber() = 0;
00188 
00189   /** returns number of motors
00190    */
00191   virtual int getMotorNumber() = 0;
00192 
00193   /** returns a vector with the positions of all segments of the robot
00194       @param poslist vector of positions (of all robot segments) 
00195       @return length of the list
00196   */
00197   virtual int getSegmentsPosition(std::vector<Position> &poslist);
00198 
00199 
00200   /** The list of all parameters with there value as allocated lists.
00201   */
00202   virtual paramlist getParamList() const;
00203 
00204   virtual paramval getParam(const paramkey& key) const;;
00205 
00206   virtual bool setParam(const paramkey& key, paramval val);
00207 
00208   /** the main object of the robot, which is used for position and speed tracking */
00209   virtual Primitive* getMainPrimitive() const {
00210     if(!objects.empty()){
00211       //      int half = objects.size()/2;
00212       //      return (objects[half]);
00213       return (objects[0]);
00214     }else return 0;
00215   }
00216 
00217   /** sets a texture to the body of the snake
00218    * note: the head texture of the snake is set by
00219    * this method too!
00220    */
00221   virtual void setTexture(const std::string& filename);
00222   
00223   /** sets a texture to the head of the snake
00224    */
00225   virtual void setHeadTexture(const std::string& filename);
00226 
00227   /**
00228    * sets the color of the head element
00229    */
00230   virtual void setHeadColor(const Color& color);
00231 
00232 
00233 protected:
00234 
00235   /** creates vehicle at desired pose
00236       @param pose 4x4 pose matrix
00237   */
00238   virtual void create(const osg::Matrix& pose); 
00239   /**
00240      creates and initialised the segment with the given index
00241    */
00242   virtual Primitive* createSegment(int index); 
00243   virtual void destroy();
00244 };
00245 
00246 }
00247 
00248 #endif
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