AnyKode Marilou - Revision history

Robot: /* Moja skúsenosť */

2012-08-03T11:39:17Z

‎Moja skúsenosť

Robot: /* Screens */

2012-07-01T07:51:04Z

‎Screens

Robot: /* Source Code */

2012-07-01T07:32:03Z

‎Source Code

Robot: /* Robots programming */

2012-07-01T07:28:44Z

‎Robots programming

Robot: /* Robots programming */

2012-07-01T07:24:52Z

‎Robots programming

Robot: /* Robots programming */

2012-06-30T17:14:58Z

‎Robots programming

Robot: /* Robots programming */

2012-06-30T17:14:42Z

‎Robots programming

Robot: New page: == About project == anyKode Marilou is a modeling and simulation environment for mobile robots, humanoids, articulated arms and parallels robots operating in real-world conditions that re...

2012-06-30T17:13:22Z

New page: == About project == anyKode Marilou is a modeling and simulation environment for mobile robots, humanoids, articulated arms and parallels robots operating in real-world conditions that re...

New page

== About project ==

anyKode Marilou is a modeling and simulation environment for mobile robots, humanoids, articulated arms and parallels robots operating in real-world conditions that respect the laws of physics. This robotics suite is used in research centers as well as industry for various projects like humanoid architectures, wheeled and multi legged vehicles and multi-robot systems (Multi-agents).
Marilou real-time engine uses the ODE (Open Dynamics Engine) for collisions detecting and dynamics management. Various 'real world' variables like forces, torques, masses, damping, friction and others can be adjusted directly to the objects surfaces

== Scenes modeling ==

Marilou's entities editor allows to design robots collision model using any of the static or dynamic objects in the simulated world. CAD-style editing tools are entirely graphical, easy to use, and allow to make changes and set-up new situations quickly.
Scenes, dynamics and robots properties can be changed from a view/document/properties IHM style. Also the editor takes in charge re-usable physicals entities as well as pure 3D models.
The most complex objects can be made easily by assembling sub-parts. Marilou uses a hierarchical system to present entire objects at the highest level (the current world). This approach makes it possible to reuse members of a complex object as sub-parts of another object.

==Robots programming==
'''MODA''' (Marilou Open Devices Access) is the Marilou generic SDK for handling simulated robots and their embedded devices, such as sensors and actuators. Depending on chosen language, MODA provides libraries (.lib / .a) or .Net assembly (.dll) for accessing simulation over the network. Synchronized to a simulated clock, algorithms can run on any computer in the network. Individual robots may run several programs. In addition, one MODA program can control several robots, whether or not they be in the same world. MODA TCP server can be embedded in real robot.
* Languages: C/C++, C++ CLI, C#, J#, VB#
* Compilers: Microsoft Visual Studio suites, DevC++, Borland C++ RAD Studio, G++ for Linux, CodeBlocks
* MODA is Open-source and compatible Linux (Mac coming soon)

***** DOKONCIT *****

== Links ==

http://en.wikipedia.org/wiki/AnyKode_Marilou<br />
http://www.anykode.com<br />

ODE :
http://ode.org/<br />

@@ Line 113: / Line 113: @@
 Potom podla 1.video tutorialu som si vytvoril moju simulaciu:<br/>
 [[Image:Moj.jpg|left|320px|Moja simulacia]]
 <br/><br/><br/><br/><br/><br/><br/><br/><br/>
 ==Screens==
 Marilou editor<br/>

@@ Line 101: / Line 101: @@
 </source>
 ==Screens==
 Marilou editor<br/>
@@ Line 108: / Line 121: @@
 <br/><br/><br/><br/><br/><br/><br/><br/><br/><br/><br/><br/><br/><br/><br/><br/>
 <br/><br/><br/><br/><br/><br/><br/><br/><br/><br/>
 ==Video==
 Video Eurobot 2007 cup

@@ Line 44: / Line 44: @@
 			GPSConfigStruct GPSConfig=pGPS->GetSettings();
 			GPSValuesStruct GPS;
-			_cprintf("Intrinsic error:%f, %f, %f (m) Noise:%f (m) Update: %u ms\r\n",GPSConfig.IntrinsicError.x,GPSConfig.IntrinsicError.y,GPSConfig.IntrinsicError.z,GPSConfig.Noise,GPSConfig.UpdateDelay);
+			_cprintf("Intrinsic error:%f, %f, %f (m) Noise:%f (m) Update: %u ms\r\n",GPSConfig.IntrinsicError.x,GPSConfig.IntrinsicError.y,GPSConfig.IntrinsicError.z,
 			while(!_kbhit())
@@ Line 98: / Line 99: @@
 return 0;
+}
-<source>
+</source>
 ==Screens==

← Older revision		Revision as of 07:28, 1 July 2012
Line 16:		Line 16:
	* MODA is Open-source and compatible Linux (Mac coming soon)		* MODA is Open-source and compatible Linux (Mac coming soon)

		+	==Source Code==
		+
		+	<source lang="cpp">
		+	#include "ModaCPP.h"
		+
		+	int main(int argc, CHAR* argv[])
		+	{
		+	//process the command line
		+	ModaCPP::CommandLine::ProcessCommandLine(argc,argv);
		+	//Connect to MODA server
		+	ModaCPP::Connection *pConnection=new ModaCPP::Connection(true);
		+	if(pConnection->Connect( ModaCPP::CommandLine::GetArgumentValue("/modaserver","127.0.0.1"),ModaCPP::CommandLine::GetArgumentValueINT("/modaport",0),false))
		+	{
		+	_cprintf("Connection ok to moda server\r\n");
		+
		+	//Find the robot
		+	ModaCPP::RobotPHX *robot=pConnection->QueryRobotPHX("/");
		+	if(robot)
		+	{
		+	_cprintf("Robot found in this world\r\n");
		+	ModaCPP::DeviceMotor *pMotorLeft=robot->QueryDeviceMotor("JointLeft/axis/motor");
		+	ModaCPP::DeviceMotor *pMotorRight=robot->QueryDeviceMotor("Jointright/axis/motor");
		+	ModaCPP::DeviceGPS *pGPS=robot->QueryDeviceGPS("socle/gps");
		+	if(pMotorLeft && pMotorRight && pGPS)
		+	{
		+	//read the GPS configuration
		+	GPSConfigStruct GPSConfig=pGPS->GetSettings();
		+	GPSValuesStruct GPS;
		+	_cprintf("Intrinsic error:%f, %f, %f (m) Noise:%f (m) Update: %u ms\r\n",GPSConfig.IntrinsicError.x,GPSConfig.IntrinsicError.y,GPSConfig.IntrinsicError.z,GPSConfig.Noise,GPSConfig.UpdateDelay);
		+
		+	while(!_kbhit())
		+	{
		+	//Read GPS position
		+	pGPS->GetValues(&GPS);
		+	_cprintf("Position: %f %f %f, speed: %f, North/Dir: %f°\r\n",GPS.XPos,GPS.YPos,GPS.ZPos,GPS.LinearSpeed, Moda::Commons::MathFunctions::ToDeg(GPS.NorthAngleRad));
		+
		+	//Move the robot
		+	pMotorLeft->SetVelocityDPS(90);
		+	pMotorRight->SetVelocityDPS(180);
		+	pConnection->Sleep(4000);
		+
		+	//Read GPS position
		+	pGPS->GetValues(&GPS);
		+	_cprintf("Position: %f %f %f, speed: %f, North/Dir: %f°\r\n",GPS.XPos,GPS.YPos,GPS.ZPos,GPS.LinearSpeed, Moda::Commons::MathFunctions::ToDeg(GPS.NorthAngleRad));
		+
		+	//Move the robot
		+	pMotorLeft->SetVelocityDPS(180);
		+	pMotorRight->SetVelocityDPS(90);
		+	pConnection->Sleep(4000);
		+
		+	//Read GPS position
		+	pGPS->GetValues(&GPS);
		+	_cprintf("Position: %f %f %f, speed: %f, North/Dir: %f°\r\n",GPS.XPos,GPS.YPos,GPS.ZPos,GPS.LinearSpeed, Moda::Commons::MathFunctions::ToDeg(GPS.NorthAngleRad));
		+
		+	//Move the robot
		+	pMotorLeft->SetVelocityDPS(90);
		+	pMotorRight->SetVelocityDPS(-90);
		+	pConnection->Sleep(4000);
		+	}
		+	delete pMotorLeft;
		+	delete pMotorRight;
		+	delete pGPS;
		+	}
		+	else
		+	{
		+	_cprintf("motor(s) and/or GPS not found ...\r\n");
		+	}
		+	delete robot;
		+	}
		+	else
		+	{
		+	_cprintf("Robot not found in this world\r\n");
		+	}
		+	}
		+	else
		+	{
		+	_cprintf("Unable to connect to moda server : be sure Exec is running and MODA TCP/UDP ports are open\r\n");
		+	}
		+	pConnection->Disconnect();
		+	delete pConnection;
		+	return 0;
		+	}
		+	<source>

	==Screens==		==Screens==

← Older revision		Revision as of 07:24, 1 July 2012
Line 17:		Line 17:


−	~~DOKONCIT~~	+	==Screens==
		+	Marilou editor<br/>
		+	[[Image:Mariloueditor320.jpg\|left\|320px\|Marilou editor‎]]
		+
		+	[[Image:Bcilarge.jpg\|left\|320px]]
		+	<br/><br/><br/><br/><br/><br/><br/><br/><br/><br/><br/><br/><br/><br/><br/><br/>
		+	<br/><br/><br/><br/><br/><br/><br/><br/><br/><br/>
		+	==Video==
		+	Video Eurobot 2007 cup
		+	[[Media:Cup2007-01.avi‎]]

	== Links ==		== Links ==

← Older revision		Revision as of 17:14, 30 June 2012
Line 17:		Line 17:


−	~~------~~ DOKONCIT ~~--------~~	+	DOKONCIT

	== Links ==		== Links ==