DefaultCaterPillar Class Reference

This is a class, which models a snake like robot. More...

#include <defaultCaterpillar.h>

Inherits OdeRobot.

Inherited by CaterPillar.

Inheritance diagram for DefaultCaterPillar:

[legend]Collaboration diagram for DefaultCaterPillar:

[legend]List of all members.

Public Member Functions
	DefaultCaterPillar (const OdeHandle &odeHandle, const OsgHandle &osgHandle, const CaterPillarConf &conf, const std::string &name, const std::string &revision)
virtual	~DefaultCaterPillar ()
virtual void	place (const osg::Matrix &pose)
	sets the pose of the vehicle
virtual void	update ()
	update all primitives and joints
virtual bool	collisionCallback (void *data, dGeomID o1, dGeomID o2)
	This is the collision handling function for snake robots.
virtual void	doInternalStuff (const GlobalData &global)
	this function is called in each timestep.
virtual void	setMotors (const motor *motors, int motornumber)=0
	Reads the actual motor commands from an array, an sets all motors of the snake to this values.
virtual int	getSensors (sensor *sensors, int sensornumber)=0
	Writes the sensor values to an array in the memory.
virtual int	getSensorNumber ()=0
	returns number of sensors
virtual int	getMotorNumber ()=0
	returns number of motors
virtual int	getSegmentsPosition (std::vector< Position > &poslist)
	returns a vector with the positions of all segments of the robot
virtual 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.
virtual Primitive *	getMainPrimitive () const
	the main object of the robot, which is used for position and speed tracking
Static Public Member Functions
CaterPillarConf	getDefaultConf ()
void	mycallback (void *data, dGeomID o1, dGeomID o2)
Protected Member Functions
virtual void	create (const osg::Matrix &pose)
	creates vehicle at desired position
virtual void	destroy ()
	destroys vehicle and space
Protected Attributes
bool	created
std::vector< Primitive * >	objects
std::vector< Joint * >	joints
std::vector< AngularMotor * >	frictionmotors
CaterPillarConf	conf

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Detailed Description

This is a class, which models a snake like robot.

It consists of a number of equal elements, each linked by a joint

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Constructor & Destructor Documentation

DefaultCaterPillar (  const OdeHandle &  odeHandle, const OsgHandle &  osgHandle, const CaterPillarConf &  conf, const std::string &  name, const std::string &  revision )

~DefaultCaterPillar (   )  [virtual]

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Member Function Documentation

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

This is the collision handling function for snake robots. This overwrides the function collisionCallback of the class robot. Parameters: data  o1  first geometrical object, which has taken part in the collision o2  second geometrical object, which has taken part in the collision Returns: true if the collision was threated by the robot, false if not Implements OdeRobot.

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

creates vehicle at desired position Parameters: pose  4x4 pose matrix Reimplemented in CaterPillar.

void destroy (   )  [protected, virtual]

destroys vehicle and space Reimplemented in CaterPillar.

void doInternalStuff (  const GlobalData &  global  )  [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.

CaterPillarConf getDefaultConf (   )  [inline, static]

virtual Primitive* getMainPrimitive (   )  const [inline, virtual]

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

virtual int getMotorNumber (   )  [pure virtual]

returns number of motors Implements AbstractRobot. Implemented in CaterPillar.

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. Parameters: keylist,vallist  will be allocated with malloc (free it after use!) Returns: length of the lists 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 (   )  [pure virtual]

returns number of sensors Implements AbstractRobot. Implemented in CaterPillar.

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

Writes the sensor values to an array in the memory. Parameters: sensors  pointer to the array sensornumber  length of the sensor array Returns: number of actually written sensors Implements AbstractRobot. Implemented in CaterPillar.

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

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

sets the pose of the vehicle Parameters: pose  desired 4x4 pose matrix Implements OdeRobot.

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

Reads the actual motor commands from an array, an sets all motors of the snake to this values. It is an linear allocation. Parameters: motors  pointer to the array, motor values are scaled to [-1,1] motornumber  length of the motor array Implements AbstractRobot. Implemented in CaterPillar.

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

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

void update (   )  [virtual]

update all primitives and joints Implements OdeRobot.

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Member Data Documentation

CaterPillarConf conf [protected]

bool created [protected]

std::vector<AngularMotor*> frictionmotors [protected]

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

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

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

• defaultCaterpillar.h
• defaultCaterPillar.cpp

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