SliderWheelie Class Reference

This is a class, which models an annular robot. More...

#include <sliderwheelie.h>

Inherits OdeRobot.

Inheritance diagram for SliderWheelie:

[legend]Collaboration diagram for SliderWheelie:

[legend]List of all members.

Public Member Functions
	SliderWheelie (const OdeHandle &odeHandle, const OsgHandle &osgHandle, const SliderWheelieConf &conf, const std::string &name, const std::string &revision="")
virtual	~SliderWheelie ()
virtual void	place (const osg::Matrix &pose)
	sets the pose of the vehicle
virtual void	update ()
	update the OSG notes here
void	doInternalStuff (const GlobalData &global)
	this function is called in each timestep.
bool	collisionCallback (void *data, dGeomID o1, dGeomID o2)
	checks for internal collisions and treats them.
virtual void	setMotors (const motor *motors, int motornumber)
	sets actual motorcommands
virtual int	getSensors (sensor *sensors, int sensornumber)
	returns actual sensorvalues
virtual int	getSensorNumber ()
	returns number of sensors
virtual int	getMotorNumber ()
	returns number of motors
virtual Primitive *	getMainPrimitive () const
	overload this in the robot implementation.
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.
Static Public Member Functions
SliderWheelieConf	getDefaultConf ()
Private Member Functions
virtual void	create (const osg::Matrix &pose)
virtual void	destroy ()
	destroys vehicle and space
Static Private Member Functions
void	mycallback (void *data, dGeomID o1, dGeomID o2)
Private Attributes
bool	created
std::vector< Primitive * >	objects
std::vector< Joint * >	joints
std::vector< AngularMotor * >	frictionmotors
SliderWheelieConf	conf
std::vector< HingeServo * >	hingeServos
std::vector< SliderServo * >	sliderServos

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Detailed Description

This is a class, which models an annular robot.

It consists of a number of equal elements, each linked by a joint powered by 1 servo

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Constructor & Destructor Documentation

SliderWheelie (  const OdeHandle &  odeHandle, const OsgHandle &  osgHandle, const SliderWheelieConf &  conf, const std::string &  name, const std::string &  revision = "" )

~SliderWheelie (   )  [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  )  [private, virtual]

void destroy (   )  [private, virtual]

destroys vehicle and space

void doInternalStuff (  const GlobalData &  global  )  [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.

SliderWheelieConf 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.

virtual int getMotorNumber (   )  [inline, 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. Parameters: keylist,vallist  will be allocated with malloc (free it after use!) Returns: length of the lists Reimplemented from Configurable.

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.

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.

void update (   )  [virtual]

update the OSG notes here Implements OdeRobot.

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Member Data Documentation

SliderWheelieConf conf [private]

bool created [private]

std::vector<AngularMotor*> frictionmotors [private]

std::vector<HingeServo*> hingeServos [private]

std::vector<Joint*> joints [private]

std::vector<Primitive*> objects [private]

std::vector<SliderServo*> sliderServos [private]

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

• sliderwheelie.h
• sliderwheelie.cpp

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