#include <caterpillar.h>
Inherits DefaultCaterPillar.
Inheritance diagram for CaterPillar:
Public Member Functions | |
CaterPillar (const OdeHandle &odeHandle, const OsgHandle &osgHandle, const CaterPillarConf &conf, const char *name) | |
virtual | ~CaterPillar () |
virtual void | setMotors (const motor *motors, int motornumber) |
Reads the actual motor commands from an array, and sets all motors (forces) of the snake to this values. | |
virtual int | getSensors (sensor *sensors, int sensornumber) |
Writes the sensor values to an array in the memory. | |
virtual int | getSensorNumber () |
returns number of sensors | |
virtual int | getMotorNumber () |
returns number of motors | |
virtual bool | setParam (const paramkey &key, paramval val) |
sets the value of the given parameter or does nothing if unknown. | |
Private Member Functions | |
virtual void | create (const osg::Matrix &pose) |
creates vehicle at desired position | |
virtual void | destroy () |
destroys vehicle and space | |
Private Attributes | |
std::vector< UniversalServo * > | universalServos |
std::vector< SliderServo * > | sliderServos |
It consists of a number of equal elements, each linked by a joint powered by 2 servos
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creates vehicle at desired position
Reimplemented from DefaultCaterPillar.
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destroys vehicle and space
Reimplemented from DefaultCaterPillar.
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returns number of motors
Implements DefaultCaterPillar.
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returns number of sensors
Implements DefaultCaterPillar.
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Writes the sensor values to an array in the memory.
Implements DefaultCaterPillar.
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Reads the actual motor commands from an array, and sets all motors (forces) of the snake to this values. It is an linear allocation.
Implements DefaultCaterPillar.
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sets the value of the given parameter or does nothing if unknown.
Reimplemented from DefaultCaterPillar.
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