Arm2Segm Class Reference

#include <arm2segm.h>

Inherits OdeRobot.

Inheritance diagram for Arm2Segm:

[legend]Collaboration diagram for Arm2Segm:

[legend]List of all members.

Public Member Functions
	Arm2Segm (const OdeHandle &odeHandle, const OsgHandle &osgHandle, const Arm2SegmConf)
virtual	~Arm2Segm ()
virtual void	update ()
	update the subcomponents
virtual void	place (const osg::Matrix &pose)
	sets the vehicle to position pos, sets color to c, and creates robot if necessary
virtual int	getSensors (sensor *sensors, int sensornumber)
	returns actual sensorvalues
virtual void	setMotors (const motor *motors, int motornumber)
	sets actual motorcommands
virtual int	getSensorNumber ()
	returns number of sensors
virtual int	getMotorNumber ()
	returns number of motors
virtual int	getSegmentsPosition (std::vector< Position > &poslist)
	returns a vector with the positions of all segments of the robot
virtual Primitive *	getMainPrimitive () const
	the main object of the robot, which is used for position and speed tracking
virtual bool	collisionCallback (void *data, dGeomID o1, dGeomID o2)
	checks for internal collisions and treats them.
virtual void	doInternalStuff (const GlobalData &globalData)
	this function is called in each timestep.
paramlist	getParamList () const
	The list of all parameters with there value as allocated lists.
virtual paramval	getParam (const paramkey &key) const
	returns the value of the requested parameter or 0 (+ error message to stderr) if unknown.
virtual bool	setParam (const paramkey &key, paramval val)
	sets the value of the given parameter or does nothing if unknown.
Static Public Member Functions
Arm2SegmConf	getDefaultConf ()
Protected Member Functions
virtual void	create (const osg::Matrix &pose)
	creates vehicle at desired position
virtual void	destroy ()
	destroys vehicle and space
Static Protected Member Functions
void	mycallback (void *data, dGeomID o1, dGeomID o2)
Protected Attributes
dSpaceID	parentspace
Arm2SegmConf	conf
std::vector< Primitive * >	objects
std::vector< Joint * >	joints
std::vector< AngularMotor1Axis * >	amotors
std::string	name
paramval	speed
paramval	factorSensors
int	sensorno
int	motorno
bool	created

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Constructor & Destructor Documentation

Arm2Segm (  const OdeHandle &  odeHandle, const OsgHandle &  osgHandle, const  Arm2SegmConf )

virtual ~Arm2Segm (   )  [inline, virtual]

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Member Function Documentation

bool collisionCallback (  void *  data, dGeomID  o1, dGeomID  o2 )  [virtual]

checks for internal collisions and treats them. In case of a treatment return true (collision will be ignored by other objects and the default routine) else false (collision is passed to other objects and (if not treated) to the default routine). Implements OdeRobot.

void create (  const osg::Matrix &  pose  )  [protected, virtual]

creates vehicle at desired position Parameters: pose  4x4 pose matrix

void destroy (   )  [protected, virtual]

destroys vehicle and space

void doInternalStuff (  const GlobalData &  globalData  )  [virtual]

this function is called in each timestep. It should perform robot-internal checks, like space-internal collision detection, sensor resets/update etc. Parameters: globalData  structure that contains global data from the simulation environment Implements OdeRobot.

Arm2SegmConf getDefaultConf (   )  [inline, static]

Primitive * getMainPrimitive (   )  const [virtual]

the main object of the robot, which is used for position and speed tracking Implements OdeRobot.

virtual int getMotorNumber (   )  [inline, virtual]

returns number of motors Implements AbstractRobot.

Configurable::paramval getParam (  const paramkey &  key  )  const [virtual]

returns the value of the requested parameter or 0 (+ error message to stderr) if unknown. Reimplemented from Configurable.

Configurable::paramlist getParamList (   )  const [virtual]

The list of all parameters with there value as allocated lists. Returns: list of names Reimplemented from Configurable.

int getSegmentsPosition (  std::vector< Position > &  poslist  )  [virtual]

returns a vector with the positions of all segments of the robot Parameters: poslist  vector of positions (of all robot segments) Returns: length of the list

virtual int getSensorNumber (   )  [inline, virtual]

returns number of sensors Implements AbstractRobot.

int getSensors (  sensor *  sensors, int  sensornumber )  [virtual]

returns actual sensorvalues Parameters: sensors  sensors scaled to [-1,1] sensornumber  length of the sensor array Returns: number of actually written sensors Implements AbstractRobot.

void mycallback (  void *  data, dGeomID  o1, dGeomID  o2 )  [static, protected]

void place (  const osg::Matrix &  pose  )  [virtual]

sets the vehicle to position pos, sets color to c, and creates robot if necessary Parameters: pose  desired 4x4 pose matrix Implements OdeRobot.

void setMotors (  const motor *  motors, int  motornumber )  [virtual]

sets actual motorcommands Parameters: motors  motors scaled to [-1,1] motornumber  length of the motor array Implements AbstractRobot.

bool setParam (  const paramkey &  key, paramval  val )  [virtual]

sets the value of the given parameter or does nothing if unknown. Reimplemented from Configurable.

void update (   )  [virtual]

update the subcomponents Implements OdeRobot.

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Member Data Documentation

std::vector<AngularMotor1Axis*> amotors [protected]

Arm2SegmConf conf [protected]

bool created [protected]

paramval factorSensors [protected]

std::vector<Joint*> joints [protected]

int motorno [protected]

std::string name [protected]

Reimplemented from Configurable.

std::vector<Primitive*> objects [protected]

dSpaceID parentspace [protected]

Reimplemented from OdeRobot.

int sensorno [protected]

paramval speed [protected]

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The documentation for this class was generated from the following files:

• arm2segm.h
• arm2segm.cpp

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