Barrel2Masses Class Reference

A barrel-like robot with 2 internal masses, which can slide on their orthogonal axes. More...

#include <barrel2masses.h>

Inherits Sphererobot3Masses.

Inheritance diagram for Barrel2Masses:

[legend]Collaboration diagram for Barrel2Masses:

[legend]List of all members.

Public Member Functions
	Barrel2Masses (const OdeHandle &odeHandle, const OsgHandle &osgHandle, const Sphererobot3MassesConf &conf, const std::string &name, double transparency=0.5)
	constructor
virtual	~Barrel2Masses ()
virtual int	getSensors (sensor *sensors, int sensornumber)
	Writes the sensor values to an array in the memory.
Static Public Member Functions
Sphererobot3MassesConf	getDefaultConf ()
	default configuration.
Protected Member Functions
virtual void	create (const osg::Matrix &pose)
	The cylinder (main body) lies on the ground, that it is rotating about the z-axis.

---

Detailed Description

A barrel-like robot with 2 internal masses, which can slide on their orthogonal axes.

It is the small brother of the Sphererobot3Masses. This robot was inspired by Julius Popp (http://sphericalrobots.com)

---

Constructor & Destructor Documentation

Barrel2Masses (  const OdeHandle &  odeHandle, const OsgHandle &  osgHandle, const Sphererobot3MassesConf &  conf, const std::string &  name, double  transparency = 0.5 )

constructor It is configured with the configuration object of Sphererobot3Masses. Just two of the 3 axis are used. The worldZaxissensor and irAxis3 has no meaning here.

~Barrel2Masses (   )  [virtual]

---

Member Function Documentation

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

The cylinder (main body) lies on the ground, that it is rotating about the z-axis. Reimplemented from Sphererobot3Masses.

Sphererobot3MassesConf getDefaultConf (   )  [inline, static]

default configuration. It has no sensors. Use addSensor(new AxisOrientationSensor(ZProjectionXY) for example. Reimplemented from Sphererobot3Masses.

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

Writes the sensor values to an array in the memory. Parameters: sensor*  pointer to the array sensornumber  length of the sensor array Returns: number of actually written sensors Reimplemented from Sphererobot3Masses.

---

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

• barrel2masses.h
• barrel2masses.cpp

---