Abstract class for ODE robots. More...

#include <oderobot.h>

Inheritance diagram for OdeRobot:

Collaboration diagram for OdeRobot:

Public Member Functions
	OdeRobot (const OdeHandle &odeHandle, const OsgHandle &osgHandle, const std::string &name, const std::string &revision)
	Constructor. More...

virtual	~OdeRobot ()
	calls cleanup() More...

virtual int	getSensors (double *sensors, int sensornumber) final
	returns actual sensorvalues More...

virtual void	setMotors (const double *motors, int motornumber) final
	sets actual motorcommands More...

virtual int	getSensorNumber () final
	returns number of sensors More...

virtual int	getMotorNumber () final
	returns number of motors More...

virtual std::list < SensorMotorInfo >	getSensorInfos () override
	returns the information for the sensors. More...

virtual std::list < SensorMotorInfo >	getMotorInfos () override
	returns the information for the motors. More...

virtual int	getSensorsIntern (double *sensors, int sensornumber)
	overload this function in a subclass to do specific sensor handling, not needed for generic sensors More...

virtual void	setMotorsIntern (const double *motors, int motorsnumber)
	overload this function in a subclass to do specific sensor handling, not needed for generic motors More...

virtual int	getSensorNumberIntern ()
	overload this function in a subclass to specific the number of custom sensors More...

virtual int	getMotorNumberIntern ()
	overload this function in a subclass to specific the number of custom sensors More...

virtual void	addSensor (std::shared_ptr< Sensor > sensor, Attachment attachment=Attachment())
	adds a sensor to the robot. More...

virtual void	addMotor (std::shared_ptr< Motor > motor, Attachment attachment=Attachment())
	adds a motor to the robot. More...

virtual std::list < SensorAttachment >	getAttachedSensors ()
	returns all generic sensors with their attachment More...

virtual std::list < MotorAttachment >	getAttachedMotors ()
	returns all generic motors with their attachment More...

virtual void	addTorqueSensors (double maxtorque=1.0, int avg=1)
	adds a torque sensor to each joint. Call it after placement of robot. More...

virtual void	update ()
	update the OSG notes here, if overwritten, call OdeRobot::update()! More...

virtual void	place (const Pos &pos) final
	sets the vehicle to position pos More...

virtual void	place (const osg::Matrix &pose) final
	sets the pose of the vehicle More...

virtual void	placeIntern (const osg::Matrix &pose)=0
	wrapper to for More...

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

virtual void	sense (GlobalData &globalData)
	this function is called each controlstep before control. More...

virtual void	doInternalStuff (GlobalData &globalData)
	this function is called in each simulation timestep (always after control). More...

virtual void	setColor (const Color &col)
	sets color of the robot More...

virtual Position	getPosition () const
	returns position of the object More...

virtual Position	getSpeed () const
	returns linear speed vector of the object More...

virtual Position	getAngularSpeed () const
	returns angular velocity vector of the object More...

virtual matrix::Matrix	getOrientation () const
	returns the orientation of the object More...

virtual Primitive *	getMainPrimitive () const
	return the primitive of the robot that is used for tracking and camera following More...

virtual Primitives	getAllPrimitives () const
	returns a list of all primitives of the robot (used to store and restore the robot) More...

virtual Primitives &	getAllPrimitives ()

virtual Joints	getAllJoints () const
	returns a list of all primitives of the robot (const version) (used to store and restore the robot) More...

virtual Joints &	getAllJoints ()

virtual bool	store (FILE *f) const
	returns a list of all joints of the robot (const version) More...

virtual bool	restore (FILE *f)
	loads the object from the given file stream (ASCII preferred). More...

virtual void	moveToPosition (Pos pos=Pos(0, 0, 0.5), int primitiveID=-1)
	relocates robot such its primitive with the given ID is at the new postion (keep current pose). More...

virtual void	moveToPose (Pose pose, int primitiveID=-1)
	relocates robot such its primitive with the given ID is at the new pose (keep relative pose of all primitives). More...

virtual Pose	getInitialPose ()
	returns the initial pose of the main primitive (use it e.g. with moveToPose) More...

virtual Pose	getRelativeInitialPose ()
	returns the initial relative pose of the main primitive (use it with moveToPose to further translate or rotate). More...

virtual void	fixate (GlobalData &global, int primitiveID=-1, double duration=0)
	fixates the given primitive of the robot at its current position to the world for a certain time. More...

virtual bool	unFixate (GlobalData &global)
	release the robot in case it is fixated and return true in this case More...

Public Member Functions inherited from AbstractRobot
	AbstractRobot (const std::string &name="abstractRobot", const std::string &revision="$ID$")
	Constructor. More...

virtual	~AbstractRobot ()

virtual std::string	getTrackableName () const
	returns name of trackable More...

Public Member Functions inherited from Trackable
	Trackable ()
	Constructor. More...

virtual	~Trackable ()

Public Member Functions inherited from Configurable
	Configurable ()

	Configurable (const std::string &name, const std::string &revision)
	intialise with name and revision (use "$ID$") More...

virtual	~Configurable ()

virtual void	notifyOnChange (const paramkey &key)
	Is called when a parameter was changes via setParam(). More...

virtual void	addParameter (const paramkey &key, paramval *val, paramval minBound, paramval maxBound, const paramdescr &descr=paramdescr())
	This is the new style for adding configurable parameters. More...

virtual void	addParameter (const paramkey &key, paramval *val, const paramdescr &descr=paramdescr())
	See addParameter(const paramkey& key, paramval* val, paramval minBound, paramval maxBound, const paramdescr& descr) More...

virtual void	addParameter (const paramkey &key, parambool *val, const paramdescr &descr=paramdescr())
	See addParameter(const paramkey& key, paramval* val) but for bool values. More...

virtual void	addParameter (const paramkey &key, paramint *val, paramint minBound, paramint maxBound, const paramdescr &descr=paramdescr())
	See addParameter(const paramkey& key, paramval* val) but for int values. More...

virtual void	addParameter (const paramkey &key, paramint *val, const paramdescr &descr=paramdescr())

virtual void	addParameterDef (const paramkey &key, paramval *val, paramval def, paramval minBound, paramval maxBound, const paramdescr &descr=paramdescr())
	This function is only provided for convenience. More...

virtual void	addParameterDef (const paramkey &key, paramval *val, paramval def, const paramdescr &descr=paramdescr())

virtual void	addParameterDef (const paramkey &key, parambool *val, parambool def, const paramdescr &descr=paramdescr())
	See addParameterDef(const paramkey&, paramval*, paramval) More...

virtual void	addParameterDef (const paramkey &key, paramint *val, paramint def, paramint minBound, paramint maxBound, const paramdescr &descr=paramdescr())
	See addParameterDef(const paramkey&, paramval*, paramval) More...

virtual void	addParameterDef (const paramkey &key, paramint *val, paramint def, const paramdescr &descr=paramdescr())

virtual void	setParamDescr (const paramkey &key, const paramdescr &descr, bool traverseChildren=true)
	sets a description for the given parameter More...

int	getId () const
	return the id of the configurable objects, which is created by random on initialisation More...

virtual paramkey	getName () const
	return the name of the object More...

virtual paramkey	getRevision () const
	returns the revision of the object More...

virtual void	setName (const paramkey &name, bool callSetNameOfInspectable=true)
	Sets the name of the configurable. More...

virtual void	setRevision (const paramkey &revision)
	sets the revision Hint: { return "$ID$"; } More...

virtual paramval	getParam (const paramkey &key, bool traverseChildren=true) const
	returns the value of the requested parameter or 0 (+ error message to stderr) if unknown. More...

virtual bool	hasParam (const paramkey &key, bool traverseChildren=true) const
	Returns if the requested parameter is part of the configurable or their children. More...

virtual bool	setParam (const paramkey &key, paramval val, bool traverseChildren=true)
	sets the value of the given parameter or does nothing if unknown. More...

virtual void	setParamBounds (const paramkey &key, paramval minBound, paramval maxBound, bool traverseChildren=true)
	Sets the bounds (minBound and maxBound) of the given parameter. More...

virtual void	setParamBounds (const paramkey &key, paramint minBound, paramint maxBound, bool traverseChildren=true)

virtual void	setParamBounds (const paramkey &key, paramvalBounds bounds, bool traverseChildren=true)

virtual void	setParamBounds (const paramkey &key, paramintBounds bounds, bool traverseChildren=true)

virtual paramlist	getParamList () const
	The list of all parameters with there value as allocated lists. More...

virtual std::list< paramkey >	getAllParamNames (bool traverseChildren=true)
	returns all names that are configureable More...

virtual parammap	getParamValMap () const

virtual paramintmap	getParamIntMap () const

virtual paramboolmap	getParamBoolMap () const

virtual paramdescr	getParamDescr (const paramkey &key, bool traverseChildren=true) const
	returns the description for the given parameter More...

virtual paramvalBounds	getParamvalBounds (const paramkey &key, bool traverseChildren=true) const

virtual paramintBounds	getParamintBounds (const paramkey &key, bool traverseChildren=true) const

virtual bool	hasParamDescr (const paramkey &key, bool traverseChildren=true) const

virtual bool	hasParamvalBounds (const paramkey &key, bool traverseChildren=true) const

virtual bool	hasParamintBounds (const paramkey &key, bool traverseChildren=true) const

virtual bool	storeCfg (const char *filenamestem, const std::list< std::string > &comments=std::list< std::string >())
	stores the key values paires into the file : filenamestem.cfg including the comments given in the list More...

virtual bool	restoreCfg (const char *filenamestem)
	restores the key values paires from the file : filenamestem.cfg More...

void	print (FILE f, const char prefix, int columns=90, bool traverseChildren=true) const
	prints the keys, values and descriptions to the file. Each line is prefixed More...

bool	parse (FILE f, const char prefix=0, bool traverseChildren=true)
	parses the configuration from the given file More...

virtual void	addConfigurable (Configurable *conf)
	Adds a configurable as a child object. More...

virtual void	removeConfigurable (Configurable *conf)
	Removes a configurable as a child object. More...

virtual const configurableList &	getConfigurables () const
	Returns the list containing all configurable children. More...

virtual void	configurableChanged ()
	Indicates that the configurable itself or the configurable children attached to this configurable have changed. More...

Public Member Functions inherited from BackCaller
	BackCaller ()

virtual	~BackCaller ()

virtual void	addCallbackable (Callbackable *callbackableInstance, CallbackableType type=BackCaller::DEFAULT_CALLBACKABLE_TYPE)
	Adds a Callbackable instance to this caller instance. More...

virtual void	removeCallbackable (Callbackable *callbackableInstance, CallbackableType type=BackCaller::DEFAULT_CALLBACKABLE_TYPE)
	Removes a Callbackable instance from this caller instance. More...

virtual void	removeAllCallbackables (CallbackableType type)
	Removes all Callbackable instances from this caller instance. More...

virtual void	callBack (CallbackableType type=BackCaller::DEFAULT_CALLBACKABLE_TYPE)
	Calls all registered callbackable classes of the determined type. More...

virtual void	callBackQMP (CallbackableType type=BackCaller::DEFAULT_CALLBACKABLE_TYPE)
	Calls all registered callbackable classes of the determined type. More...

Public Member Functions inherited from Storeable
virtual	~Storeable ()

bool	storeToFile (const char *filename) const
	Provided for convenience. More...

bool	restoreFromFile (const char *filename)
	Provided for convenience. More...

Protected Member Functions
void	attachSensor (SensorAttachment &sa)

void	attachMotor (MotorAttachment &ma)

virtual void	cleanup ()
	deletes all objects (primitives) and joints (is called automatically in destructor) More...

Protected Member Functions inherited from Configurable
void	copyParameters (const Configurable &, bool traverseChildren=true)
	copies the internal params of the given configurable More...

void	printdescr (FILE f, const char prefix, const paramkey &key, int columns, int indent) const

Static Protected Member Functions
static bool	isGeomInPrimitiveList (Primitive **ps, int len, dGeomID geom)

static bool	isGeomInPrimitiveList (std::list< Primitive * > ps, dGeomID geom)

Protected Attributes
Primitives	objects
	list of objects (should be populated by subclasses) More...

Joints	joints
	list of joints (should be populated by subclasses) More...

std::list< SensorAttachment >	sensors

std::list< MotorAttachment >	motors

TmpJoint *	fixationTmpJoint

Pose	initialPose

Pose	initialRelativePose

OdeHandle	odeHandle

OsgHandle	osgHandle

dSpaceID	parentspace

bool	initialized

bool	askedfornumber

Friends
class	OdeAgent

Additional Inherited Members
Public Types inherited from AbstractRobot
typedef double	sensor

typedef double	motor

Public Types inherited from Configurable
typedef std::string	paramkey

typedef std::string	paramdescr

typedef double	paramval

typedef std::list< std::pair < paramkey, paramval > >	paramlist

typedef std::map< paramkey, paramval * >	parammap

typedef bool	parambool

typedef std::list< std::pair < paramkey, parambool > >	paramboollist

typedef std::map< paramkey, parambool * >	paramboolmap

typedef int	paramint

typedef std::list< std::pair < paramkey, paramint > >	paramintlist

typedef std::map< paramkey, paramint * >	paramintmap

typedef std::map< paramkey, paramdescr >	paramdescrmap

typedef std::pair< paramval, paramval >	paramvalBounds

typedef std::map< paramkey, paramvalBounds >	paramvalBoundsMap

typedef std::pair< paramint, paramint >	paramintBounds

typedef std::map< paramkey, paramintBounds >	paramintBoundsMap

typedef std::pair< paramkey, paramval * >	paramvalpair

typedef std::pair< paramkey, parambool * >	paramboolpair

typedef std::pair< paramkey, paramint * >	paramintpair

typedef std::vector < Configurable * >	configurableList

Public Types inherited from BackCaller
typedef unsigned long	CallbackableType

Static Public Attributes inherited from Configurable
static const CallbackableType	CALLBACK_CONFIGURABLE_CHANGED = 11

Static Public Attributes inherited from BackCaller
static const CallbackableType	DEFAULT_CALLBACKABLE_TYPE = 0
	This is the default Callbackable type. More...

Detailed Description

Abstract class for ODE robots.

Constructor & Destructor Documentation

OdeRobot	(	const OdeHandle &	odeHandle,
		const OsgHandle &	osgHandle,
		const std::string &	name,
		const std::string &	revision
	)

Constructor.

Parameters

odehandle structure with all global ODE variables

~OdeRobot ( )

virtual

calls cleanup()

Member Function Documentation

void addMotor	(	std::shared_ptr< Motor >	motor,
		Attachment	attachment = `Attachment()`
	)

virtual

adds a motor to the robot.

Must be called before agents initializes, otherwise unknown effect.

Parameters

segmentIndex index of segment of robot to which this motor should be attached

void addSensor	(	std::shared_ptr< Sensor >	sensor,
		Attachment	attachment = `Attachment()`
	)

virtual

adds a sensor to the robot.

Must be called before agents initializes, otherwise unknown effect.

Parameters

segmentIndex index of segment of robot to which this sensor should be attached

void addTorqueSensors	(	double	maxtorque = `1.0`,
		int	avg = `1`
	)

virtual

adds a torque sensor to each joint. Call it after placement of robot.

void attachMotor ( MotorAttachment & ma )

protected

void attachSensor ( SensorAttachment & sa )

protected

void cleanup ( )

protectedvirtual

deletes all objects (primitives) and joints (is called automatically in destructor)

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

inlinevirtual

Deprecated:: This function will be removed in 0.8 Do not use it anymore, collision control is done automatically. In case of a routine 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).

void doInternalStuff ( GlobalData & globalData )

virtual

this function is called in each simulation timestep (always after control).

It should perform robot-internal checks and actions like resetting certain sensors or implement velocity dependend friction and the like. The attached Motors should act here (done automatically in OdeRobot); If you overload this function, call the OdeRobot::doInternalStuff() function.

Parameters

globalData structure that contains global data from the simulation environment

Reimplemented in AmosII, AmosFour, Ashigaru, Arm, Hexapod, MuscledArm, Nimm2, Discus, VierBeiner, Sphererobot3Masses, SliderWheelie, RobotChain, ForcedSphere, TruckMesh, ReplayRobot, ShortCircuit, and HurlingSnake.

void fixate	(	GlobalData &	global,
		int	primitiveID = `-1`,
		double	duration = `0`
	)

virtual

fixates the given primitive of the robot at its current position to the world for a certain time.

Hint: use moveToPosition() to get the robot relocated

Parameters

primitiveID	if -1 then the main primitive is used, otherwise the primitive with the given index
duration	time to fixate in seconds (if ==0 then indefinite)

virtual Joints getAllJoints ( ) const

inlinevirtual

returns a list of all primitives of the robot (const version) (used to store and restore the robot)

returns a list of all joints of the robot

virtual Joints& getAllJoints ( )

inlinevirtual

virtual Primitives getAllPrimitives ( ) const

inlinevirtual

returns a list of all primitives of the robot (used to store and restore the robot)

Reimplemented in Schlange, and SliderWheelie.

virtual Primitives& getAllPrimitives ( )

inlinevirtual

Position getAngularSpeed ( ) const

virtual

returns angular velocity vector of the object

Returns: vector (wx,wy,wz)

Implements Trackable.

virtual std::list<MotorAttachment> getAttachedMotors ( )

inlinevirtual

returns all generic motors with their attachment

virtual std::list<SensorAttachment> getAttachedSensors ( )

inlinevirtual

returns all generic sensors with their attachment

virtual Pose getInitialPose ( )

inlinevirtual

returns the initial pose of the main primitive (use it e.g. with moveToPose)

virtual Primitive* getMainPrimitive ( ) const

inlinevirtual

return the primitive of the robot that is used for tracking and camera following

Reimplemented in AmosII, AmosFour, Skeleton, Nejihebi, Arm, Hexapod, Hand, MuscledArm, Discus, Schlange, VierBeiner, DefaultCaterPillar, Sphererobot, SliderWheelie, Arm2Segm, Uwo, RobotChain, ForcedSphere, HurlingSnake, Formel1, ReplayRobot, and ShortCircuit.

list< SensorMotorInfo > getMotorInfos ( )

overridevirtual

returns the information for the motors.

The following relation has to hold: getMotorNames().size() == getMotorNumber()

Reimplemented from AbstractRobot.

int getMotorNumber ( )

finalvirtual

returns number of motors

Implements AbstractRobot.

virtual int getMotorNumberIntern ( )

inlinevirtual

overload this function in a subclass to specific the number of custom sensors

See Also: getMotorNumber()

Reimplemented in AmosII, AmosFour, Skeleton, Ashigaru, Nejihebi, Arm, Hand, Discus, Sphererobot3Masses, MuscledArm, Schlange, Kuka, Nimm2, VierBeiner, DefaultCaterPillar, SliderWheelie, Sphererobot, Arm2Segm, Uwo, ForcedSphere, RobotChain, TruckMesh, FourWheeled, Nimm4, SchlangeVelocity, SchlangeServo, SchlangeServo2, CaterPillar, HurlingSnake, Formel1, SchlangeForce, and ShortCircuit.

matrix::Matrix getOrientation ( ) const

virtual

returns the orientation of the object

Returns: 3x3 rotation matrix

Implements Trackable.

Position getPosition ( ) const

virtual

returns position of the object

Returns: vector of position (x,y,z)

Implements Trackable.

virtual Pose getRelativeInitialPose ( )

inlinevirtual

returns the initial relative pose of the main primitive (use it with moveToPose to further translate or rotate).

If initialized with place(p) then moveToPose(getRelativeInitialPose()*p) whould put the main primitive at the same position and pose.

list< SensorMotorInfo > getSensorInfos ( )

overridevirtual

returns the information for the sensors.

The following relation has to hold: getSensorNames().size() == getSensorNumber()

Reimplemented from AbstractRobot.

int getSensorNumber ( )

finalvirtual

returns number of sensors

Implements AbstractRobot.

virtual int getSensorNumberIntern ( )

inlinevirtual

overload this function in a subclass to specific the number of custom sensors

See Also: getSensorNumber()

Reimplemented in AmosII, AmosFour, Skeleton, Nejihebi, Ashigaru, Arm, Hand, Discus, Sphererobot3Masses, MuscledArm, Schlange, Kuka, Nimm2, VierBeiner, Sphererobot, DefaultCaterPillar, SliderWheelie, ForcedSphere, Uwo, Arm2Segm, RobotChain, TwoWheeled, FourWheeled, TruckMesh, SchlangeVelocity, Nimm4, SchlangeServo, SchlangeServo2, CaterPillar, HurlingSnake, Formel1, SchlangeForce, and ShortCircuit.

int getSensors	(	double *	sensors,
		int	sensornumber
	)

finalvirtual

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 int getSensorsIntern	(	double *	sensors,
		int	sensornumber
	)

inlinevirtual

overload this function in a subclass to do specific sensor handling, not needed for generic sensors

See Also: getSensors(); addSensor()

Reimplemented in AmosII, AmosFour, Nejihebi, Skeleton, Ashigaru, Arm, Discus, Hand, Sphererobot3Masses, MuscledArm, Schlange, DefaultCaterPillar, Nimm2, VierBeiner, SliderWheelie, Sphererobot, Barrel2Masses, ForcedSphere, Kuka, RobotChain, FourWheeled, TwoWheeled, Uwo, Arm2Segm, SchlangeVelocity, TruckMesh, Nimm4, SchlangeServo, SchlangeServo2, CaterPillar, SchlangeForce, HurlingSnake, Formel1, ReplayRobot, and ShortCircuit.

Position getSpeed ( ) const

virtual

returns linear speed vector of the object

Returns: vector (vx,vy,vz)

Implements Trackable.

bool isGeomInPrimitiveList	(	Primitive **	ps,
		int	len,
		dGeomID	geom
	)

staticprotected

bool isGeomInPrimitiveList	(	std::list< Primitive * >	ps,
		dGeomID	geom
	)

staticprotected

void moveToPose	(	Pose	pose,
		int	primitiveID = `-1`
	)

virtual

relocates robot such its primitive with the given ID is at the new pose (keep relative pose of all primitives).

If primitiveID is -1 then the main primitive is used.

void moveToPosition	(	Pos	pos = `Pos(0,0,0.5)`,
		int	primitiveID = `-1`
	)

virtual

relocates robot such its primitive with the given ID is at the new postion (keep current pose).

If primitiveID is -1 then the main primitive is used. If primitiveID is -2 then the primitive with the lowest center is used (the center of it, so the bounding box is not checked)

void place ( const Pos & pos )

finalvirtual

sets the vehicle to position pos

Parameters

pos	desired position of the robot

void place ( const osg::Matrix & pose )

finalvirtual

sets the pose of the vehicle

Parameters

pose	desired 4x4 pose matrix

void placeIntern ( const osg::Matrix & pose )

pure virtual

wrapper to for

See Also: place() that is to be overloaded

Implemented in AmosII, AmosFour, Nejihebi, Skeleton, Ashigaru, Hexapod, Arm, Discus, Hand, Sphererobot3Masses, MuscledArm, Nimm2, VierBeiner, Schlange, SliderWheelie, DefaultCaterPillar, Differential, Sphererobot, ForcedSphere, RobotChain, Kuka, Uwo, Arm2Segm, TruckMesh, Nimm4, Formel1, HurlingSnake, ReplayRobot, and ShortCircuit.

bool restore ( FILE * f )

virtual

loads the object from the given file stream (ASCII preferred).

Implements Storeable.

void sense ( GlobalData & globalData )

virtual

this function is called each controlstep before control.

This is the place the perform active sensing (e.g. Image processing). If you overload this function, call the OdeRobot::sense() function.

Parameters

globalData structure that contains global data from the simulation environment

Reimplemented in AmosII, AmosFour, Ashigaru, Discus, Sphererobot3Masses, Hand, and TwoWheeled.

void setColor ( const Color & col )

virtual

sets color of the robot

Parameters

col	Color struct with desired Color

void setMotors	(	const double *	motors,
		int	motornumber
	)

finalvirtual

sets actual motorcommands

Parameters

motors	motors scaled to [-1,1]
motornumber	length of the motor array

Implements AbstractRobot.

virtual void setMotorsIntern	(	const double *	motors,
		int	motorsnumber
	)

inlinevirtual

overload this function in a subclass to do specific sensor handling, not needed for generic motors

See Also: setMotors(); addMotor()

Reimplemented in AmosII, AmosFour, Nejihebi, Skeleton, Ashigaru, Arm, Hand, Discus, Sphererobot3Masses, MuscledArm, Nimm2, VierBeiner, Schlange, Sphererobot, DefaultCaterPillar, SliderWheelie, ForcedSphere, Kuka, Uwo, RobotChain, Arm2Segm, FourWheeled, TruckMesh, Nimm4, SchlangeVelocity, HurlingSnake, Formel1, SchlangeServo, SchlangeServo2, CaterPillar, ReplayRobot, ShortCircuit, and SchlangeForce.

bool store ( FILE * f ) const

virtual

returns a list of all joints of the robot (const version)

Implements Storeable.

bool unFixate ( GlobalData & global )

virtual

release the robot in case it is fixated and return true in this case

void update ( )

virtual

update the OSG notes here, if overwritten, call OdeRobot::update()!

Reimplemented in AmosII, AmosFour, Ashigaru, Arm, Discus, Sphererobot3Masses, Hand, Schlange, SliderWheelie, Nimm2, VierBeiner, DefaultCaterPillar, ForcedSphere, Sphererobot, TwoWheeled, RobotChain, Kuka, Arm2Segm, TruckMesh, Nimm4, and Formel1.

Friends And Related Function Documentation

friend class OdeAgent

friend

Member Data Documentation

bool askedfornumber

protected

TmpJoint* fixationTmpJoint

protected

bool initialized

protected

Pose initialPose

protected

Pose initialRelativePose

protected

Joints joints

protected

list of joints (should be populated by subclasses)

std::list<MotorAttachment> motors

protected

Primitives objects

protected

list of objects (should be populated by subclasses)

OdeHandle odeHandle

protected

OsgHandle osgHandle

protected

dSpaceID parentspace

protected

std::list<SensorAttachment> sensors

protected

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

Public Member Functions

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Friends

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation