SphererobotTest Class Reference

This is a class, which models a snake like robot. More...

#include <sphererobotTest.h>

List of all members.

Public Types
enum	objects {   Base, Pendular, Pole1Bot, Pole2Bot,   Pole3Bot, Pole1Top, Pole2Top, Pole3Top }
Public Member Functions
	SphererobotTest (int startRoboterID, const OdeHandle &odeHandle, const SphererobotConf &conf)
	constructor
virtual	~SphererobotTest ()
	Destruktor.
virtual void	draw ()
	Draws the geometrical objects of the robot.
virtual void	place (Position pos, Color *c=0)
	Sets the sphere to position pos, sets color to c, and creates sphere if necessary.
virtual bool	collisionCallback (void *data, dGeomID o1, dGeomID o2)
	This is the collision handling function for snake robots.
virtual int	getSensors (sensor *sensors, int sensornumber)
	Writes the sensor values to an array in the memory.
virtual void	setMotors (const motor *motors, int motornumber)
	Reads the actual motor commands from an array, an sets all motors of the snake to this values.
virtual int	getMotorNumber ()
	Returns the number of motors used by the snake.
virtual int	getSensorNumber ()
	Returns the number of sensors used by the robot.
virtual void	sensoraktualisierung ()
	Updates the sensorarray.
virtual void	getStatus ()
	Prints some internal robot parameters.
Static Public Member Functions
SphererobotConf	getStandartConf ()
void	mycallback (void *data, dGeomID o1, dGeomID o2)
Public Attributes
SliderServo *	servo
Protected Member Functions
virtual Object	getMainObject ()
Protected Attributes
SphererobotConf	conf
double	lastJointPos [3]
Private Attributes
dSpaceID	sphererobot_space
vector< PID * >	motorliste2

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Detailed Description

This is a class, which models a snake like robot.

It consists of a number of equal elements, each linked by a joint. This class is based upon the class roboter by the same author.

Author:

Marcel Kretschmann

Version:

beta

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Member Enumeration Documentation

enum objects

Enumeration values: Base  Pendular  Pole1Bot  Pole2Bot  Pole3Bot  Pole1Top  Pole2Top  Pole3Top

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Constructor & Destructor Documentation

SphererobotTest (  int  startRoboterID, const OdeHandle &  odeHandle, const SphererobotConf &  conf )

constructor Parameters: startRoboterID  ID, which should be managed clearly Author: Marcel Kretschmann Version: beta

~SphererobotTest (   )  [virtual]

Destruktor. Author: Marcel Kretschmann Version: beta

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Member Function Documentation

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

This is the collision handling function for snake robots. This overwrides the function collisionCallback of the class robot. Parameters: data  o1  first geometrical object, which has taken part in the collision o2  second geometrical object, which has taken part in the collision Returns: true if the collision was threated by the robot, false if not Author: Marcel Kretschmann Version: beta

void draw (   )  [virtual]

Draws the geometrical objects of the robot. Author: Marcel Kretschmann Version: beta

virtual Object getMainObject (   )  [inline, protected, virtual]

int getMotorNumber (   )  [virtual]

Returns the number of motors used by the snake. Returns: number of motors Author: Marcel Kretschmann Version: final

int getSensorNumber (   )  [virtual]

Returns the number of sensors used by the robot. Returns: number of sensors Author: Marcel Kretschmann Version: final

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 Author: Marcel Kretschmann Version: beta

SphererobotConf getStandartConf (   )  [inline, static]

void getStatus (   )  [virtual]

Prints some internal robot parameters. Actualy it prints all sensor data of one callculation step. Author: Marcel Kretschmann Version: beta

void mycallback (  void *  data, dGeomID  o1, dGeomID  o2 )  [static]

void place (  Position  pos, Color *  c = 0 )  [virtual]

Sets the sphere to position pos, sets color to c, and creates sphere if necessary. This overwrides the function place of the class robot. Parameters: pos  desired position of the snake in struct Position c  desired color for the snake in struct Color Author: Marcel Kretschmann Version: beta

void sensoraktualisierung (   )  [virtual]

Updates the sensorarray. This overwrides the function sensoraktualisierung of the class robot Author: Marcel Kretschmann Version: beta

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

Reads the actual motor commands from an array, an sets all motors 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 Author: Marcel Kretschmann Version: beta

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Member Data Documentation

SphererobotConf conf [protected]

double lastJointPos[3] [protected]

vector<PID*> motorliste2 [private]

SliderServo* servo

dSpaceID sphererobot_space [private]

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

• sphererobotTest.h
• sphererobotTest.cpp

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