segwayrmp.hh

机器人人3D仿真工具,可以加入到Simbad仿真环境下应用。

/*
 *  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: Model for a SickLMS200
 * Author: Andrew Howard
 * Date: 8 May 2003
 * CVS: $Id: SegwayRMP.hh,v 1.16 2004/11/16 04:47:08 inspectorg Exp $
 */

#ifndef SEGWAYRMP_HH
#define SEGWAYRMP_HH

#include "Model.hh"

// Forward declarations
class Body;
class HingeJoint;
class SliderJoint;
class Geom;
class SphereGeom;
class GeomData;

typedef struct gz_position gz_position_t;


class SegwayRMP : public Model
{
  // Construct, destructor
  public: SegwayRMP(World *world);
  public: virtual ~SegwayRMP();

  // Load the model
  public: virtual int Load( WorldFile *file, WorldFileNode *node );

  // Initialize the model
  public: virtual int Init( WorldFile *file, WorldFileNode *node );

  // Finalize the model
  public: virtual int Fini();

  // Update the model state
  public: virtual void Update( double step );

  // Update the odometry
  private: void UpdateOdometry( double step );

  // Load ODE stuff
  private: int OdeLoad( WorldFile *file, WorldFileNode *node );

  // Initialize ODE
  private: int OdeInit( WorldFile *file, WorldFileNode *node );

  // Finalize ODE
  private: int OdeFini();

  // Initialize the external interface
  private: int IfaceInit();

  // Finalize the external interface
  private: int IfaceFini();

  // Get commands from the external interface
  private: void IfaceGetCmd();
  
  // Update the data in the external interface
  private: void IfacePutData();
  
  // Robot parameters
  private: double wheelSep, wheelDiam;
  
  // ODE components
  private: Body *base, *top, *tires[2];
  private: SliderJoint *topJoint;
  private: HingeJoint *tireJoints[2];

  // External interface
  private: gz_position_t *iface;

  // Wheel speeds
  private: double wheelSpeed[2];
           double desLinVel, curLinVel;
           double desAngVel;
           double maxLinVel;
           double maxLinAcc;

  // Control class
  private: class PID
  {
    public:
    PID(double Kp, double Ki, double Kd) : Kp(Kp), Ki(Ki), Kd(Kd) , e(0), de(0), ie(0) {}
    double Kp,Ki,Kd;
    double e, de, ie;
    double s(double e) { de = e - this->e; ie += e; this->e = e; return Kp*e + Ki*ie + Kd*de; }
  };

  // States for the segway control
  class ControlState
  {
    public:
    ControlState() : dist(0), vel(0), pitch(0), dpitch(0), yaw(0), dyaw(0) {}
    double dist, vel;
    double pitch, dpitch;
    double yaw, dyaw;
  };
  
  // Control
  private: PID* angVelPID;
           PID* linVelPID;
           ControlState* desState;
           ControlState* curState;

  // Odometric pose estimate
  private: double odomPose[3];
  private: double odomOrient[2];
};

#endif