SimpleComponent Class Reference

A simple component is a special form of component. More...

#include <simplecomponent.h>

Inherits Component.

Inheritance diagram for SimpleComponent:

[legend]Collaboration diagram for SimpleComponent:

[legend]List of all members.

Public Member Functions
	SimpleComponent (const OdeHandle &odeHandle, const OsgHandle &osgHandle, const ComponentConf &conf)
	~SimpleComponent ()
virtual void	update ()
	update the OSG notes here
virtual void	place (const Pos &pos)
	sets the vehicle to position pos
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 Position	getPosition () const
	returns position of the object
virtual osg::Vec3	getPositionbetweenComponents (Component *component)
	This is only a simple function, calculating the coordinates of the point exactly between two directly connected components.
virtual bool	setSimplePrimitive (Primitive *newprimitive)
	Sets the reference to the Primitive for the component, but only if there is no robot assigned to the component.
virtual Primitive *	getMainPrimitive () const
	return reference to the simple Primitive, or to the main Primitive of the robot assigend to the component.
Private Attributes
Primitive *	simplePrimitive

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Detailed Description

A simple component is a special form of component.

The pysical object that belongs to this component class is a Primitive object.

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Constructor & Destructor Documentation

SimpleComponent (  const OdeHandle &  odeHandle, const OsgHandle &  osgHandle, const ComponentConf &  conf )

~SimpleComponent (   )

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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). Reimplemented from Component.

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 Reimplemented from Component.

Primitive * getMainPrimitive (   )  const [virtual]

return reference to the simple Primitive, or to the main Primitive of the robot assigend to the component. If nothimng is assigned, NULL is returned. Implements Component.

Position getPosition (   )  const [virtual]

returns position of the object Returns: vector of position (x,y,z) Implements Component.

osg::Vec3 getPositionbetweenComponents (  Component *  component  )  [virtual]

This is only a simple function, calculating the coordinates of the point exactly between two directly connected components. Returns: Vector containing the Position Parameters: index  number of the position Reimplemented from Component.

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

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

void place (  const Pos &  pos  )  [virtual]

sets the vehicle to position pos Parameters: pos  desired position of the robot Implements Component.

bool setSimplePrimitive (  Primitive *  newprimitive  )  [virtual]

Sets the reference to the Primitive for the component, but only if there is no robot assigned to the component. Overwriting an existing Primitive reference is possible, also to set it NULL, and then set a reference to a Primitive with setSimplePrimitive ( .. ). But first the Primitive reference should be saved elsewhere or it won't be updated graficaly Returns: true if the reference could be set; false else

void update (   )  [virtual]

update the OSG notes here Implements Component.

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Member Data Documentation

Primitive* simplePrimitive [private]

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

• simplecomponent.h
• simplecomponent.cpp

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