Wheelie Class Reference

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

#include <wheelie.h>

Inherits DefaultWheelie.

Inheritance diagram for Wheelie:

[legend]Collaboration diagram for Wheelie:

[legend]List of all members.

Public Member Functions
	Wheelie (const OdeHandle &odeHandle, const OsgHandle &osgHandle, const WheelieConf &conf, const std::string &name)
virtual	~Wheelie ()
virtual void	setMotors (const motor *motors, int motornumber)
	Reads the actual motor commands from an array, and sets all motors (forces) of the snake to this values.
virtual int	getSensors (sensor *sensors, int sensornumber)
	Writes the sensor values to an array in the memory.
virtual int	getSensorNumber ()
	returns number of sensors
virtual int	getMotorNumber ()
	returns number of motors
virtual bool	setParam (const paramkey &key, paramval val)
	sets the value of the given parameter or does nothing if unknown.
Private Member Functions
virtual void	create (const osg::Matrix &pose)
	creates vehicle at desired position
virtual void	destroy ()
	destroys vehicle and space
Private Attributes
std::vector< HingeServo * >	hingeServos

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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

Wheelie (  const OdeHandle &  odeHandle, const OsgHandle &  osgHandle, const WheelieConf &  conf, const std::string &  name )

~Wheelie (   )  [virtual]

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Member Function Documentation

void create (  const osg::Matrix &  pose  )  [private, virtual]

creates vehicle at desired position Parameters: pos  struct Position with desired position Reimplemented from DefaultWheelie.

void destroy (   )  [private, virtual]

destroys vehicle and space Reimplemented from DefaultWheelie.

virtual int getMotorNumber (   )  [inline, virtual]

returns number of motors Implements DefaultWheelie.

virtual int getSensorNumber (   )  [inline, virtual]

returns number of sensors Implements DefaultWheelie.

int getSensors (  sensor *  sensors, int  sensornumber )  [virtual]

Writes the sensor values to an array in the memory. Parameters: sensors  pointer to the array sensornumber  length of the sensor array Returns: number of actually written sensors Implements DefaultWheelie.

void setMotors (  const motor *  motors, int  motornumber )  [virtual]

Reads the actual motor commands from an array, and sets all motors (forces) of the snake to this values. It is an linear allocation. Parameters: motors  pointer to the array, motor values are scaled to [-1,1] motornumber  length of the motor array Implements DefaultWheelie.

bool setParam (  const paramkey &  key, paramval  val )  [virtual]

sets the value of the given parameter or does nothing if unknown. Reimplemented from DefaultWheelie.

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Member Data Documentation

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

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

• wheelie.h
• wheelie.cpp

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