ForcedSphere Class Reference

#include <forcedsphere.h>

Inherits OdeRobot.

Inheritance diagram for ForcedSphere:

[legend]Collaboration diagram for ForcedSphere:

[legend]List of all members.

Public Types
enum	Dimensions { X = 1, Y = 2, Z = 4 }
Public Member Functions
	ForcedSphere (const OdeHandle &odeHandle, const OsgHandle &osgHandle, const ForcedSphereConf &ForcedSphereConf, const std::string &name)
	constructor
virtual	~ForcedSphere ()
virtual void	update ()
	update the OSG notes here
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 void	doInternalStuff (const GlobalData &globalData)
	this function is called in each timestep.
virtual int	getSensors (sensor *sensors, int sensornumber)
	returns actual sensorvalues
virtual void	setMotors (const motor *motors, int motornumber)
	sets actual motorcommands
virtual int	getMotorNumber ()
	returns number of motors
virtual int	getSensorNumber ()
	returns number of sensors
virtual Primitive *	getMainPrimitive () const
	overload this in the robot implementation.
Static Public Member Functions
ForcedSphereConf	getDefaultConf ()
Protected Member Functions
virtual void	create (const osg::Matrix &pose)
virtual void	destroy ()
Protected Attributes
Primitive *	object [1]
bool	created
ForcedSphereConf	conf

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Member Enumeration Documentation

enum Dimensions

Enumeration values: X  Y  Z

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Constructor & Destructor Documentation

ForcedSphere (  const OdeHandle &  odeHandle, const OsgHandle &  osgHandle, const ForcedSphereConf &  ForcedSphereConf, const std::string &  name )

constructor use getDefaultConf() to obtain a configuration with default values, which can be altered to personal needs.

~ForcedSphere (   )  [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]

void destroy (   )  [protected, virtual]

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.

ForcedSphereConf getDefaultConf (   )  [inline, static]

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

overload this in the robot implementation. If there is no object for some reason then return a null pointer Returns: main object of the robot (used for tracking) Implements OdeRobot.

int getMotorNumber (   )  [virtual]

returns number of motors Implements AbstractRobot.

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

sets the pose of the vehicle 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.

void update (   )  [virtual]

update the OSG notes here Implements OdeRobot.

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Member Data Documentation

ForcedSphereConf conf [protected]

bool created [protected]

Primitive* object[1] [protected]

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

• forcedsphere.h
• forcedsphere.cpp

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