OdeRobot Class Reference

Abstract class for ODE robots. More...

#include <oderobot.h>

Inherits AbstractRobot.

Inherited by Arm2Segm, Component, DefaultCaterPillar, DefaultWheelie, ForcedSphere, Formel1, Hand, HurlingSnake, MuscledArm, Nimm2, Nimm4, Schlange, ShortCircuit, SliderWheelie, Sphererobot, Sphererobot3Masses, TruckMesh, and Uwo.

Inheritance diagram for OdeRobot:

[legend]Collaboration diagram for OdeRobot:

[legend]List of all members.

Public Member Functions
	OdeRobot (const OdeHandle &odeHandle, const OsgHandle &osgHandle, const std::string &name, const std::string &revision)
	Constructor.
virtual	~OdeRobot ()
virtual void	update ()=0
	update the OSG notes here
virtual void	place (const Pos &pos)
	sets the vehicle to position pos
virtual void	place (const osg::Matrix &pose)=0
	sets the pose of the vehicle
virtual bool	collisionCallback (void *data, dGeomID o1, dGeomID o2)=0
	checks for internal collisions and treats them.
virtual void	doInternalStuff (const GlobalData &globalData)=0
	this function is called in each timestep.
virtual void	setColor (const Color &col)
	sets color of the robot
virtual Position	getPosition () const
	returns position of the object
virtual Position	getSpeed () const
	returns linear speed vector of the object
virtual matrix::Matrix	getOrientation () const
	returns the orientation of the object
virtual Primitive *	getMainPrimitive () const =0
	overload this in the robot implementation.
Static Protected Member Functions
bool	isGeomInPrimitiveList (Primitive **ps, int len, dGeomID geom)
bool	isGeomInPrimitiveList (std::list< Primitive * > ps, dGeomID geom)
Protected Attributes
OdeHandle	odeHandle
OsgHandle	osgHandle
dSpaceID	parentspace

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Detailed Description

Abstract class for ODE robots.

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Constructor & Destructor Documentation

OdeRobot (  const OdeHandle &  odeHandle, const OsgHandle &  osgHandle, const std::string &  name, const std::string &  revision )

Constructor. Parameters: odehandle  structure with all global ODE variables

~OdeRobot (   )  [virtual]

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Member Function Documentation

virtual bool collisionCallback (  void *  data, dGeomID  o1, dGeomID  o2 )  [pure 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). Implemented in Arm2Segm, AtomComponent, Component, DefaultCaterPillar, DefaultWheelie, ForcedSphere, Formel1, HurlingSnake, MuscledArm, Nimm2, Nimm4, RobotComponent, Schlange, ShortCircuit, SimpleComponent, SliderWheelie, Sphererobot, Sphererobot3Masses, TruckMesh, Uwo, and Hand.

virtual void doInternalStuff (  const GlobalData &  globalData  )  [pure 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 Implemented in Arm2Segm, AtomComponent, Component, DefaultCaterPillar, DefaultWheelie, ForcedSphere, Formel1, HurlingSnake, MuscledArm, Nimm2, Nimm4, RobotComponent, Schlange, ShortCircuit, SimpleComponent, SliderWheelie, Sphererobot, Sphererobot3Masses, TruckMesh, Uwo, and Hand.

virtual Primitive* getMainPrimitive (   )  const [pure 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) Implemented in Arm2Segm, AtomComponent, Component, DefaultCaterPillar, DefaultWheelie, ForcedSphere, Formel1, HurlingSnake, MuscledArm, Nimm2, Nimm4, PrimitiveComponent, RobotComponent, Schlange, ShortCircuit, SimpleComponent, SliderWheelie, Sphererobot, Sphererobot3Masses, TruckMesh, Uwo, and Hand.

matrix::Matrix getOrientation (   )  const [virtual]

returns the orientation of the object Returns: 3x3 rotation matrix Implements Trackable.

Position getPosition (   )  const [virtual]

returns position of the object Returns: vector of position (x,y,z) Implements Trackable. Reimplemented in AtomComponent, Component, PrimitiveComponent, RobotComponent, and SimpleComponent.

Position getSpeed (   )  const [virtual]

returns linear speed vector of the object Returns: vector (vx,vy,vz) Implements Trackable.

bool isGeomInPrimitiveList (  std::list< Primitive * >  ps, dGeomID  geom )  [static, protected]

bool isGeomInPrimitiveList (  Primitive **  ps, int  len, dGeomID  geom )  [static, protected]

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

sets the pose of the vehicle Parameters: pose  desired 4x4 pose matrix Implemented in Arm2Segm, AtomComponent, DefaultCaterPillar, DefaultWheelie, ForcedSphere, Formel1, HurlingSnake, MuscledArm, Nimm2, Nimm4, RobotComponent, Schlange, ShortCircuit, SimpleComponent, SliderWheelie, Sphererobot, Sphererobot3Masses, TruckMesh, Uwo, and Hand.

void place (  const Pos &  pos  )  [virtual]

sets the vehicle to position pos Parameters: pos  desired position of the robot Reimplemented in AtomComponent, Component, PrimitiveComponent, RobotComponent, and SimpleComponent.

void setColor (  const Color &  col  )  [virtual]

sets color of the robot Parameters: col  Color struct with desired Color

virtual void update (   )  [pure virtual]

update the OSG notes here Implemented in Arm2Segm, AtomComponent, Component, DefaultCaterPillar, DefaultWheelie, ForcedSphere, Formel1, HurlingSnake, MuscledArm, Nimm2, Nimm4, PrimitiveComponent, RobotComponent, Schlange, ShortCircuit, SimpleComponent, SliderWheelie, Sphererobot, Sphererobot3Masses, TruckMesh, Uwo, and Hand.

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Member Data Documentation

OdeHandle odeHandle [protected]

OsgHandle osgHandle [protected]

dSpaceID parentspace [protected]

Reimplemented in Arm2Segm, and MuscledArm.

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

• oderobot.h
• oderobot.cpp

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