ShortCircuit Class Reference

#include <shortcircuit.h>

Inherits OdeRobot.

Inheritance diagram for ShortCircuit:

[legend]Collaboration diagram for ShortCircuit:

[legend]List of all members.

Public Member Functions
	ShortCircuit (const OdeHandle &odeHandle, const OsgHandle &osgHandle, int sensornumber, int motornumber)
	~ShortCircuit ()
virtual void	update ()
	update the OSG notes here
virtual void	place (const osg::Matrix &pose)
	sets the pose of the vehicle
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 void	doInternalStuff (const GlobalData &globalData)
	this function is called in each timestep.
virtual bool	collisionCallback (void *data, dGeomID o1, dGeomID o2)
	checks for internal collisions and treats them.
Protected Member Functions
virtual Primitive *	getMainPrimitive () const
	the main object of the robot, which is used for position and speed tracking
Protected Attributes
int	sensorno
int	motorno
motor *	motors

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Constructor & Destructor Documentation

ShortCircuit (  const OdeHandle &  odeHandle, const OsgHandle &  osgHandle, int  sensornumber, int  motornumber )

~ShortCircuit (   )

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Member Function Documentation

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

virtual void doInternalStuff (  const GlobalData &  globalData  )  [inline, 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.

virtual int getMotorNumber (   )  [inline, virtual]

returns number of motors Implements AbstractRobot.

virtual int getSensorNumber (   )  [inline, 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.

virtual void place (  const osg::Matrix &  pose  )  [inline, 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.

virtual void update (   )  [inline, virtual]

update the OSG notes here Implements OdeRobot.

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Member Data Documentation

int motorno [protected]

motor* motors [protected]

int sensorno [protected]

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

• shortcircuit.h
• shortcircuit.cpp

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