Revision: 7009
http://playerstage.svn.sourceforge.net/playerstage/?rev=7009&view=rev
Author: natepak
Date: 2008-09-09 13:44:47 +0000 (Tue, 09 Sep 2008)
Log Message:
-----------
Added patch 1998582
Modified Paths:
--------------
code/gazebo/trunk/server/controllers/actarray/SConscript
Added Paths:
-----------
code/gazebo/trunk/server/controllers/actarray/generic/
code/gazebo/trunk/server/controllers/actarray/generic/Generic_Actarray.cc
code/gazebo/trunk/server/controllers/actarray/generic/Generic_Actarray.hh
code/gazebo/trunk/server/controllers/actarray/generic/SConscript
Modified: code/gazebo/trunk/server/controllers/actarray/SConscript
===================================================================
--- code/gazebo/trunk/server/controllers/actarray/SConscript 2008-09-09
13:39:10 UTC (rev 7008)
+++ code/gazebo/trunk/server/controllers/actarray/SConscript 2008-09-09
13:44:47 UTC (rev 7009)
@@ -1,7 +1,7 @@
#Import variable
Import('env sharedObjs')
-dirs = Split('bandit')
+dirs = Split('bandit generic')
for subdir in dirs :
SConscript('%s/SConscript' % subdir)
Added: code/gazebo/trunk/server/controllers/actarray/generic/Generic_Actarray.cc
===================================================================
--- code/gazebo/trunk/server/controllers/actarray/generic/Generic_Actarray.cc
(rev 0)
+++ code/gazebo/trunk/server/controllers/actarray/generic/Generic_Actarray.cc
2008-09-09 13:44:47 UTC (rev 7009)
@@ -0,0 +1,174 @@
+/*
+ * Gazebo - Outdoor Multi-Robot Simulator
+ * Copyright (C) 2003
+ * Nate Koenig & Andrew Howard
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ *
+ */
+/*
+ * Desc: Actuator array controller for a Carl robot.
+ * Author: Nathan Koenig
+ * Date: 19 Sep 2007
+ * SVN info: $Id$
+ */
+
+#include "Global.hh"
+#include "XMLConfig.hh"
+#include "Model.hh"
+#include "HingeJoint.hh"
+#include "SliderJoint.hh"
+#include "Simulator.hh"
+#include "gazebo.h"
+#include "GazeboError.hh"
+#include "ControllerFactory.hh"
+#include "Generic_Actarray.hh"
+#include <typeinfo>
+#include <iostream>
+
+using namespace gazebo;
+
+GZ_REGISTER_STATIC_CONTROLLER("generic_actarray", Generic_Actarray);
+
+////////////////////////////////////////////////////////////////////////////////
+// Constructor
+Generic_Actarray::Generic_Actarray(Entity *parent )
+ : Controller(parent)
+{
+ this->myParent = dynamic_cast<Model*>(this->parent);
+
+ if (!this->myParent)
+ gzthrow("Generic_Actarray controller requires a Model as its parent");
+
+}
+
+////////////////////////////////////////////////////////////////////////////////
+// Destructor
+Generic_Actarray::~Generic_Actarray()
+{
+ delete [] joints;
+ //joints = NULL;
+ delete [] forces;
+ forces = NULL;
+ delete [] gains;
+ gains = NULL;
+ delete [] tolerances;
+ tolerances = NULL;
+}
+
+////////////////////////////////////////////////////////////////////////////////
+// Load the controller
+void Generic_Actarray::LoadChild(XMLConfigNode *node)
+{
+ XMLConfigNode *jNode;
+ this->myIface = dynamic_cast<ActarrayIface*>(this->ifaces[0]);
+
+ if (!this->myIface)
+ gzthrow("Generic_Actarray controller requires a Actarray Iface");
+
+ for (n_joints=0, jNode = node->GetChild("joint"); jNode; n_joints++, jNode =
jNode->GetNext("joint"))
+ {
+ }
+
+ this->joints = new Joint*[n_joints];
+ this->forces = new float[n_joints];
+ this->gains = new float[n_joints];
+ this->tolerances = new float[n_joints];
+ int i;
+ for (i=0, jNode = node->GetChild("joint"); jNode; i++)
+ {
+ std::string name = jNode->GetString("name","",1);
+
+ this->joints[i] = this->myParent->GetJoint(name);
+ this->forces[i] = jNode->GetDouble("force",0.0,1);
+ this->gains[i] = jNode->GetDouble("gain",0.0,1);
+ this->tolerances[i] = jNode->GetDouble("tolerance",0.01,0);
+
+ jNode = jNode->GetNext("joint");
+ }
+}
+
+////////////////////////////////////////////////////////////////////////////////
+// Initialize the controller
+void Generic_Actarray::InitChild()
+{
+ for (int i=0; i<n_joints; i++)
+ {
+ this->joints[i]->SetParam( dParamVel, 0.0);
+ this->joints[i]->SetParam( dParamFMax, this->forces[i] );
+ }
+}
+
+////////////////////////////////////////////////////////////////////////////////
+// Update the controller
+void Generic_Actarray::UpdateChild()
+{
+ Joint *joint;
+ float delta_position;
+ float actual_position;
+ float actual_speed;
+
+ this->myIface->Lock(1);
+ this->myIface->data->head.time = Simulator::Instance()->GetSimTime();
+
+ this->myIface->data->actuators_count = n_joints;
+
+ for (int i=0; i<n_joints; i++)
+ {
+ double target_position = this->myIface->data->cmd_pos[i];
+ joint = this->joints[i];
+
+ if (target_position > joint->GetHighStop())
+ {
+ target_position = joint->GetHighStop();
+ }
+ else if (target_position < joint->GetLowStop())
+ {
+ target_position = joint->GetLowStop();
+ }
+ if(dynamic_cast<HingeJoint*>(joint)) {
+ actual_position = dynamic_cast<HingeJoint*>(joint)->GetAngle();
+ actual_speed = dynamic_cast<HingeJoint*>(joint)->GetAngleRate();
+ }
+ else if(dynamic_cast<SliderJoint*>(joint)) {
+ actual_position = dynamic_cast<SliderJoint*>(joint)->GetPosition();
+ actual_speed = dynamic_cast<SliderJoint*>(joint)->GetPositionRate();
+ }
+ else {
+ gzthrow("The joint type " << typeid(joint).name() << " is not
supported by the GenericActarray controller");
+ }
+
+ delta_position = target_position - actual_position;
+
+ if (fabs(delta_position) > tolerances[i])
+ {
+ joint->SetParam( dParamVel, this->gains[i] * delta_position);
+ joint->SetParam( dParamFMax, this->forces[i] );
+ }
+
+ this->myIface->data->actuators[i].position = actual_position;
+ this->myIface->data->actuators[i].speed = actual_speed;
+ }
+
+ this->myIface->data->new_cmd = 0;
+
+ this->myIface->Unlock();
+}
+
+////////////////////////////////////////////////////////////////////////////////
+// Finalize the controller
+void Generic_Actarray::FiniChild()
+{
+}
Added: code/gazebo/trunk/server/controllers/actarray/generic/Generic_Actarray.hh
===================================================================
--- code/gazebo/trunk/server/controllers/actarray/generic/Generic_Actarray.hh
(rev 0)
+++ code/gazebo/trunk/server/controllers/actarray/generic/Generic_Actarray.hh
2008-09-09 13:44:47 UTC (rev 7009)
@@ -0,0 +1,111 @@
+/*
+ * Gazebo - Outdoor Multi-Robot Simulator
+ * Copyright (C) 2003
+ * Nate Koenig & Andrew Howard
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ *
+ */
+/*
+ * Desc: Actuator array controller for a Carl robot.
+ * Author: Benjamin Kloster
+ * Date: 13 March 2008
+ * SVN: $Id$
+ */
+#ifndef Generic_Actarray_HH
+#define Generic_Actarray_HH
+
+#include "Controller.hh"
+#include "Entity.hh"
+
+namespace gazebo
+{
+ class Joint;
+ class PositionIface;
+
+/// \addtogroup gazebo_controller
+/// \{
+/** \defgroup Generic_Actarray Generic_Actarray
+
+ \brief Carl Actuator Array controller.
+
+ This is a controller that simulates a Carl robot
+
+ \verbatim
+ <controller:Generic_Actarray name="controller-name" n_actors="number">
+ <interface:actarray name="iface-name"/>
+ </controller:Generic_Actarray>
+ \endverbatim
+
+ \{
+*/
+
+/// \brief Carl actuator array controller
+/// This is a controller that simulates a Carl robot
+class Generic_Actarray : public Controller
+{
+ /// Constructor
+ public: Generic_Actarray(Entity *parent );
+
+ /// Destructor
+ public: virtual ~Generic_Actarray();
+
+ /// Load the controller
+ /// \param node XML config node
+ /// \return 0 on success
+ protected: virtual void LoadChild(XMLConfigNode *node);
+
+ /// Init the controller
+ /// \return 0 on success
+ protected: virtual void InitChild();
+
+ /// Update the controller
+ /// \return 0 on success
+ protected: virtual void UpdateChild();
+
+ /// Finalize the controller
+ /// \return 0 on success
+ protected: virtual void FiniChild();
+
+ /// The actarray interface
+ private: ActarrayIface *myIface;
+
+ /// The parent Model
+ private: Model *myParent;
+
+ /// Number of joints managed by this controller
+ private: int n_joints;
+
+ /// The joints of the robot
+ private: Joint** joints;
+
+ /// Maximum forces that can be exerted by the joints
+ private: float* forces;
+
+ /// Gains of the joints (i.e. how fast they move depending on the difference
between actual and target angle)
+ private: float* gains;
+
+ /// The error tolerances of the joints
+ private: float* tolerances;
+
+};
+
+/** \} */
+/// \}
+
+}
+
+#endif
+
Added: code/gazebo/trunk/server/controllers/actarray/generic/SConscript
===================================================================
--- code/gazebo/trunk/server/controllers/actarray/generic/SConscript
(rev 0)
+++ code/gazebo/trunk/server/controllers/actarray/generic/SConscript
2008-09-09 13:44:47 UTC (rev 7009)
@@ -0,0 +1,7 @@
+#Import variable
+Import('env sharedObjs')
+
+sources = Split('Generic_Actarray.cc')
+
+#staticObjs.append(env.StaticObject(sources))
+sharedObjs.append(env.SharedObject(sources))
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