HurlingSnake Class Reference

Hurling snake is a string a beats. More...

#include <hurlingsnake.h>

Inheritance diagram for HurlingSnake:

[legend]Collaboration diagram for HurlingSnake:


Public Member Functions
	HurlingSnake (const OdeHandle &odeHandle, const OsgHandle &osgHandle, const std::string &name)
	Constructor.
virtual void	update ()
	update the subcomponents
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	getSensorNumber ()
	returns number of sensors
virtual int	getMotorNumber ()
	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.
Protected Member Functions
virtual Primitive *	getMainPrimitive () const
	the main object of the robot, which is used for position and speed tracking
Private Member Functions
virtual void	create (const osg::Matrix &pose)
	creates vehicle at desired pose
virtual void	destroy ()
	destroys robot
Static Private Member Functions
void	mycallback (void *data, dGeomID o1, dGeomID o2)
Private Attributes
bool	created
Position	initial_pos
int	NUM
double	MASS
double	RADIUS
Joint *	joint [9]
Primitive *	object [10]
Pos	oldp
int	sensorno
int	motorno
paramval	factorForce
paramval	frictionGround
paramval	factorSensor

Detailed Description

Hurling snake is a string a beats.

Constructor & Destructor Documentation

HurlingSnake ( const OdeHandle & odeHandle,

const OsgHandle & osgHandle,

const std::string & name

)

Constructor.

Parameters:

w world in which robot should be created

s space in which robot should be created

c contactgroup for collision treatment

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 ) [private, virtual]

creates vehicle at desired pose

Parameters:

pose 4x4 pose matrix

void destroy ( ) [private, virtual]

destroys robot

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.

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

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

Implements OdeRobot.

int getMotorNumber ( ) [virtual]

returns number of motors

Implements AbstractRobot.

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.

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

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 mycallback ( void * data,

dGeomID o1,

dGeomID o2

) [static, private]

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.

bool setParam ( const paramkey & key,

paramval val

) [virtual]

sets the value of the given parameter or does nothing if unknown.

Reimplemented from Configurable.