Uwo Class Reference

UWO: Unknown Walk Object :-), looks like a plate with a lot of legs. More...

#include <uwo.h>

Inherits OdeRobot.

Inheritance diagram for Uwo:

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Collaboration diagram for Uwo:

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List of all members.

Public Member Functions

 Uwo (const OdeHandle &odeHandle, const OsgHandle &osgHandle, const UwoConf &conf, const std::string &name)
 constructor of uwo robot
virtual ~Uwo ()
virtual void update ()
 updates the osg notes
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 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 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

UwoConf getDefaultConf ()

Protected Member Functions

virtual PrimitivegetMainPrimitive () const
 the main object of the robot, which is used for position and speed tracking
virtual void create (const osg::Matrix &pose)
 creates vehicle at desired position
virtual void destroy ()
 destroys vehicle and space

Protected Attributes

UwoConf conf
double legmass
bool created
std::vector< Primitive * > objects
std::vector< Joint * > joints
std::vector< UniversalServo * > servos

Detailed Description

UWO: Unknown Walk Object :-), looks like a plate with a lot of legs.


Constructor & Destructor Documentation

Uwo const OdeHandle odeHandle,
const OsgHandle osgHandle,
const UwoConf conf,
const std::string &  name
 

constructor of uwo robot

Parameters:
odeHandle data structure for accessing ODE
osgHandle ata structure for accessing OSG
size scaling of robot
force maximal used force to realize motorcommand
radialLegs switches between cartensian and radial leg joints

virtual ~Uwo  )  [inline, virtual]
 


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  )  [protected, virtual]
 

creates vehicle at desired position

Parameters:
pose 4x4 pose matrix

void destroy  )  [protected, virtual]
 

destroys vehicle and space

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.

UwoConf getDefaultConf  )  [inline, static]
 

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.

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 place const osg::Matrix pose  )  [virtual]
 

sets the pose of the vehicle

Parameters:
pose desired 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]
 

updates the osg notes

Implements OdeRobot.


Member Data Documentation

UwoConf conf [protected]
 

bool created [protected]
 

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

double legmass [protected]
 

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

std::vector<UniversalServo*> servos [protected]
 


The documentation for this class was generated from the following files:
Generated on Tue Jan 16 02:14:56 2007 for Robotsystem of the Robot Group Leipzig by doxygen 1.3.8