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Pioneer2Gripper.hh Go to the documentation of this file. /* * 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 Pioneer2 Gripper * * This model reproduce Pionner2 gripper's main behaviors according to * Player's gripper interface. * * Each model that needs to be gripped must contain the following tags in * its model description (in the .world file) : <canBeGrip></canBeGrip> and * the value should be either 'yes' or 'no'. If tag is not present, it will * be considered to be not available for gripper. This have been implemented * to avoid considering every object as grippable, which enhances simulation * performances when a lot of objects can be present in simulated world. * * For now, gripping is emulated which means that when grasping, ODE's * physical friction is not used to lift an object. Gripped object is just * repositionned to lift's height. Using ODE's friction model have been * tried but with no good results. Many bugs and glitches were observed * leading to an unusable model :-( * * Author: Carle Cote * (Laborius - Universite de Sherbrooke - Sherbrooke, Quebec, Canada) * Date: 23 february 2004 * * TODOs: * - Change grips emulated friction for ODE's physical friction model. * - Avoid using rays proximity sensor's geoms to draw rays * * WARNINGS: * - pionner2DX (and probably AT) mass modelisation can lead to problem * lifting heavy objects (can create weird behaviors). Recommended object * mass should be around 0.1. * * CVS: $Id: Pioneer2Gripper.hh,v 1.7 2005/04/13 16:32:31 natepak Exp $ * * Modification description : * * Author: Carle Cote * (Laborius - Universite de Sherbrooke - Sherbrooke, Quebec, Canada) * Date: 21 march 2004 * Desc.: Patch the shaking bug. This should be a temporary patch until using * ODE's physic model for friction * * Author: Carle Cote * (Laborius - Universite de Sherbrooke - Sherbrooke, Quebec, Canada) * Date: 26 may 2004 * Desc: Fix model with refactored core * - Change collision detection mechanism * - Change pressure pads to a no collision geoms with their own spaceID * - Move pressure pads a little bit inside the grips to help detect gripped state */ #ifndef GAZEBO_P2GRIPPER_HH #define GAZEBO_P2GRIPPER_HH #include "Model.hh" // Forward declarations class Body; class Geom; class RayGeom; class GeomData; class SliderJoint; class RayProximity; typedef struct gz_gripper gz_gripper_t; class Pioneer2Gripper : public Model { // Constructor, destructor public: Pioneer2Gripper( World *world ); public: virtual ~Pioneer2Gripper(); // 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 ); // Grips-intersection callback private: static void UpdateGripCallback( void *data, dGeomID o1, dGeomID o2 ); // 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(); // Grip command functions public: void OpenGrip(); public: void CloseGrip(); public: void StopGrip(); // Lift command functions public: void StopLift(); public: void LiftUp(); public: void LiftDown(); // adds model in the list of grippable models public: void AddGrippableModel( Model *model); // Gripper's mode public: enum GripperMode{ GRIPPER_STOP_MODE = 0, GRIPPER_OPEN_MODE, GRIPPER_CLOSE_MODE }; // Lift's mode public: enum LiftMode{ LIFT_STOP_MODE = 0, LIFT_UP_MODE, LIFT_DOWN_MODE }; // Gripper's parameters private: dReal gripMaxSpeed; private: dReal liftMaxSpeed; private: dReal fixedbarLength; private: dReal fixedbarWidth; private: dReal fixedbarHeight; private: dReal fixedbarMass; private: dReal basebarLength; private: dReal basebarWidth; private: dReal basebarHeight; private: dReal basebarZPos; // Use to set the gripper fully down position private: dReal basebarMass; private: dReal gripLength; private: dReal gripWidth; private: dReal gripHeight; private: dReal gripMass; private: dReal gripsOpenWidth; private: dReal gripsCloseWidth; private: dReal gripMinPosLimit; private: dReal gripMaxPosLimit; private: dReal gripMaxForce; private: dReal liftHeight; private: dReal liftMinPosLimit; private: dReal liftMaxPosLimit; private: dReal liftMaxForce; private: dReal ffTolerance; // used instead of FudgeFactor param to counter ODE bug with joints limit private: dReal simFrictionTolerance; // used to avoid gripped model contact with grips for emulating friction. // If not used, ODE's friction model generates unwanted forces. // These boolean variables indicate the state of the gripper //(same nomenclature found on Player side) private: bool lift_limit_reach; //Unused private: bool grip_limit_reach; //Unused private: bool outer_beam_obstruct; private: bool inner_beam_obstruct; private: bool left_paddle_open; //Unused private: bool right_paddle_open; //Unused private: bool paddles_opened; private: bool paddles_closed; private: bool paddles_moving; private: bool paddles_error; //Unused private: bool lift_up; private: bool lift_down; private: bool lift_moving; private: bool lift_error; //Unused // data and state private: unsigned char state; private: unsigned char beams; private: GripperMode gripperMode; private: LiftMode liftMode; private: bool isGripping; // ODE objects private: Body *body; private: Body *baseBarBody; private: Body *leftGripperBody; private: Body *rightGripperBody; private: Geom *fixedBarGeom; private: Geom *baseBarGeom; private: Geom *leftGripGeom; private: Geom *rightGripGeom; private: Geom *leftPressureSensorGeom; private: Geom *rightPressureSensorGeom; private: RayProximity *innerBreakbeam; private: RayProximity *outerBreakbeam; private: SliderJoint *leftGripperJoint; private: SliderJoint *rightGripperJoint; private: SliderJoint *baseJoint; private: dSpaceID leftGripSpaceId; private: dSpaceID rightGripSpaceId; // External interface private: gz_gripper_t *gripper_iface; }; #endif

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Last updated $Date: 2004/12/21 01:49:15 $

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