gripperrobot.h

遗传算法和神经网络结合

/*
  YAKS, a Khepera simulator including a separate GA and ANN 
  (Genetic Algoritm, Artificial Neural Net).
  Copyright (C) 2000  Johan Carlsson ([e-mail])
  
  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 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.

 */

#ifndef GRIPPERROBOT_H
#define GRIPPERROBOT_H
#include "sobst.h"
#include "obst.h"
#include "robot.h"
#include "geom.h"

/** Describes different event that can occur for the gripper */
enum GripperEvent{
  /** Object present */
  GE_OBJ_PRESENT,
  /** Gripper crash */
  GE_OBJ_CRASH,
  /** Object picked up */
  GE_OBJ_PICKED_UP,
  /** Robot carries object */
  GE_OBJ_CARRY,
  /** Gripper releases object */
  GE_OBJ_RELEASE,
  /** No operation */
  GE_NOP
};
/**
 * @class GripperRobot gripperrobot.h
 * @brief Implements a robot with a mounted gripper arm.
 *
 */
class GripperRobot : public Robot{
 public:
  GripperRobot();
  ~GripperRobot();
  int checkCrash(float x1, float y1, float  x2, float  y2);
  int checkCrash(Obst *obj);
  int setGripperPosition(double val);
  void setArmPosition(double val);
  int isaGripperRobot();
  void resetRobot();
  double getObjectSensed() const;
  int holdingSomething() const;
  double readPosition(int device) const; /* where 0 = gripper, 1 = arm */
  void updateGripperCords();
  int armDown() const;
  void clrGripperSensor();
  void armCrashed();
  void clearCrashed();
  int getCrashed()const;
  int handsClosed() const;
  void getSane();
  void updateThingInHandsCoord();
  void setThingInHands(Sobst *thing, int index);
  void releaseThingInHands();
  void recallState();
  GripperEvent inHands(class Sobst *);
  
  /* Gripper cordinates and values, shame on me... they are all PUBLIC !!! */
  /** arm position */
  float   p_arm;              
  /** gripper position */
  float   p_gripper;          
  /** the object that is gripped */
  int     ob_taken;           
  /** an object is between the gripper hands */
  float   ob_sensed;          
  // double  ldist,rdist,fdist;  /* dist of the object in the hand               */
  /** Coordinates of the left and right hand. */
  float    lgripper[4],rgripper[4];
  float   flx,fly;
  float   frx,fry;
  /** Arm position [0.0 .. 1.0] */
  double arm_pos;
  /** Gripper center */
  double gx,gy;
  double  ldirection;
  double  rdirection;     
  
  //  double  ob_fitness;
  float   fdeltax,fdeltay;
  float   headx,heady;

 private:
  /** Arm chrashed */
  int crashed;
  /** Thing that robot is holding */
  Sobst *thingInHands;

};

#endif /* GRIPPERROBOT_H */