#include <atomcomponent.h>
Inherits Component.
Inheritance diagram for AtomComponent:
Public Member Functions | |
AtomComponent (const OdeHandle &odeHandle, const OsgHandle &osgHandle, const ComponentConf &conf, const AtomConf &aconf) | |
~AtomComponent () | |
virtual void | deleteStructureRecursive () |
virtual int | getSensors (sensor *sensors, int sensornumber) |
Use this, to get all sensor values of all the joints of all subcomponents, and the sensors of all robots, belonging to all subcomponents. | |
virtual void | setMotors (const motor *motors, int motornumber) |
Sets the motor values for the joints connecting the component with its subcomponents, an recursivly the joints of all subComponents. | |
virtual int | getSensorNumber () |
Returns number of sensors; recursivly adding of the number of sensors all subcomponents and the robots of all Subcomponents. | |
virtual int | getMotorNumber () |
returns number of motors; recursivly adding of the number of sensors all subcomponents; at the moment only counts Hinge-, Slider-, Hinge2 and Universal-Joints; The Motor-Numbers of the robots of the Components is not counted. | |
virtual void | update () |
update the OSG notes here | |
virtual void | place (const Pos &pos) |
sets the vehicle to position pos | |
virtual void | place (const osg::Matrix &pose) |
sets the pose of the vehicle | |
virtual bool | collisionCallback (void *data, dGeomID o1, dGeomID o2) |
checks for internal collisions and treats them. | |
virtual bool | shellCollision (dGeomID o1, dGeomID o2) |
virtual void | doInternalStuff (const GlobalData &globalData) |
this function is called in each timestep. | |
virtual Position | getPosition () const |
returns position of the object | |
virtual osg::Vec3 | getPositionbetweenComponents (Component *component) |
This is only a simple function, calculating the coordinates of the point exactly between two directly connected components. | |
virtual Primitive * | getMainPrimitive () const |
virtual componentConnection * | getStrongestSoftlinkofStructure () |
Searches for the softlink in the substructure of THIS component which has the highest binding strength. | |
virtual void | makeComponentStructureRoot () |
This changes the structure of all components connected with this component, so that this component will become the new root of this structure. | |
virtual double | getMotionForce () |
Calculates the linear force the Component has at the time of calling this function. | |
virtual double | getCollisionForce (AtomComponent *collAtom) |
Calculates the linear force between two components at the moment of calling this function. | |
virtual bool | fusionCondition (dGeomID o1, dGeomID o2) |
Tests if the conditions for fusion of two atoms are fulfilled. | |
virtual bool | fissionCondition (dGeomID o1, dGeomID o2, double force) |
now fission is allowed if there is a single connection, with a binding energy smaller than the force of the colission, but the minimum value for fission from atomconf has to be reached | |
virtual bool | collisionExclusionCondition (dGeomID o1, dGeomID o2) |
Test which collisions should not be handled. | |
virtual bool | fusion (AtomComponent *atom_to_fuse) |
fuses this AtomComponent with an other one | |
virtual void | disableStructureFusionRecursive () |
Sets all teh fusionDisable parameters of the structure belonging to THIS atom to true, so that no fusion will occur. | |
virtual void | enableStructureFusionRecursive () |
Sets all teh fusionDisable parameters of the structure belonging to THIS atom to false, so that fusion will occur. | |
virtual bool | fission (double force) |
fissions a AtomComponent from this AtomComponent | |
virtual void | fissionOf (componentConnection *tmpconnection) |
virtual AtomComponent * | getLeastFittestDivideComponent (int minsize, AtomComponent *currentBestDivideComponent) |
virtual AtomComponent * | getCopyOutofTable (std::vector< TableLine > &table) |
virtual AtomComponent * | copyBaseStructure (osg::Vec3 deltaposition, std::vector< TableLine > ©table) |
virtual AtomComponent * | copySoftlinkStructure (std::vector< TableLine > ©table) |
virtual AtomComponent * | copyCompleteStructure (osg::Vec3 deltaposition, AtomComponent *copystartcomponent) |
virtual bool | replication (AtomComponent *atom_to_recplicate) |
Replication. | |
virtual bool | replication_old (AtomComponent *atom_to_recplicate) |
Replication. | |
virtual void | setConnectionFitness (unsigned int number, double value) |
virtual void | setConnectionFitnessAll (double value) |
virtual double | getConnectionFitness (unsigned int number) |
virtual double | getConnectionFitness (AtomComponent *searchedsubcomponent) |
virtual double | getStructureFitness () |
virtual void | updateConnectionFitnessAll (AbstractController *controller) |
Static Public Member Functions | |
AtomConf | getDefaultAtomConf () |
Public Attributes | |
AtomConf | atomconf |
Private Attributes | |
OSGSphere * | core |
Primitive * | shell |
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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). Reimplemented from Component.
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Test which collisions should not be handled.
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Sets all teh fusionDisable parameters of the structure belonging to THIS atom to true, so that no fusion will occur.
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this function is called in each timestep. It should perform robot-internal checks, like space-internal collision detection, sensor resets/update etc.
Reimplemented from Component.
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Sets all teh fusionDisable parameters of the structure belonging to THIS atom to false, so that fusion will occur.
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fissions a AtomComponent from this AtomComponent
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now fission is allowed if there is a single connection, with a binding energy smaller than the force of the colission, but the minimum value for fission from atomconf has to be reached
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fuses this AtomComponent with an other one
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Tests if the conditions for fusion of two atoms are fulfilled.
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Calculates the linear force between two components at the moment of calling this function.
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Implements Component.
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Calculates the linear force the Component has at the time of calling this function.
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returns number of motors; recursivly adding of the number of sensors all subcomponents; at the moment only counts Hinge-, Slider-, Hinge2 and Universal-Joints; The Motor-Numbers of the robots of the Components is not counted.
Reimplemented from Component.
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returns position of the object
Implements Component.
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This is only a simple function, calculating the coordinates of the point exactly between two directly connected components.
Reimplemented from Component.
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Returns number of sensors; recursivly adding of the number of sensors all subcomponents and the robots of all Subcomponents.
Reimplemented from Component.
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Use this, to get all sensor values of all the joints of all subcomponents, and the sensors of all robots, belonging to all subcomponents. The sensor values have the following sequence: values of the component connecting joints, values of the robot of the component, values of component connecting joints of the first subcomponent, values of the robot of the first subcomponent, ...
Reimplemented from Component.
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Searches for the softlink in the substructure of THIS component which has the highest binding strength.
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This changes the structure of all components connected with this component, so that this component will become the new root of this structure.
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sets the pose of the vehicle
Implements OdeRobot.
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sets the vehicle to position pos
Implements Component.
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Replication. They have to belong to two robots, so that touching each ofer causes a crossing over in her structure.
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Replication.
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Sets the motor values for the joints connecting the component with its subcomponents, an recursivly the joints of all subComponents.
Reimplemented from Component.
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update the OSG notes here
Implements Component.
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