MuscledArm Class Reference

#include <muscledarm.h>

Inherits OdeRobot.

Inheritance diagram for MuscledArm:

[legend]Collaboration diagram for MuscledArm:

[legend]List of all members.

Public Member Functions
	MuscledArm (const OdeHandle &odeHandle, const OsgHandle &osgHandle, const MuscledArmConf &conf, const std::string &name)
virtual	~MuscledArm ()
virtual void	update ()
	draws the arm
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 int	getSegmentsPosition (std::vector< Position > &poslist)
	returns a vector with the positions of all segments of the robot
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.
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.
virtual Primitive *	getMainObject () const
Static Public Member Functions
MuscledArmConf	getDefaultConf ()
Public Attributes
double	force_ [6]
Protected Member Functions
virtual Primitive *	getMainPrimitive () const
	the main object of the robot, which is used for position and speed tracking
virtual void	create (const osg::Matrix &pose)
	creates arm at desired position
virtual void	destroy ()
	destroys vehicle and space
double	dBodyGetPositionAll (dBodyID basis, int para)
double	dGeomGetPositionAll (dGeomID basis, int para)
void	BodyCreate (int n, dMass m, dReal x, dReal y, dReal z, dReal qx, dReal qy, dReal qz, dReal qangle)
Static Protected Member Functions
void	mycallback (void *data, dGeomID o1, dGeomID o2)
Protected Attributes
MuscledArmConf	conf
Primitive *	object [NUMParts]
Joint *	joint [NUMJoints]
Position	old_dist [NUMParts]
paramval	factorMotors
paramval	factorSensors
paramval	damping
paramval	print
int	segmentsno
double	gelenkabstand
double	SOCKEL_LAENGE
double	SOCKEL_BREITE
double	SOCKEL_HOEHE
double	SOCKEL_MASSE
int	sensorno
int	motorno
bool	created
dSpaceID	parentspace
int	printed
double	max_l
double	max_r
double	min_l
double	min_r
double	base_width
double	base_length
double	upperArm_width
double	upperArm_length
double	lowerArm_width
double	lowerArm_length
double	joint_offset
double	mainMuscle_width
double	mainMuscle_length
double	smallMuscle_width
double	smallMuscle_length
Static Protected Attributes
const int	armanzahl = 3

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Constructor & Destructor Documentation

MuscledArm (  const OdeHandle &  odeHandle, const OsgHandle &  osgHandle, const MuscledArmConf &  conf, const std::string &  name )

virtual ~MuscledArm (   )  [inline, virtual]

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Member Function Documentation

void BodyCreate (  int  n, dMass  m, dReal  x, dReal  y, dReal  z, dReal  qx, dReal  qy, dReal  qz, dReal  qangle )  [protected]

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 arm at desired position Parameters: pose  4x4 pose matrix

double dBodyGetPositionAll (  dBodyID  basis, int  para )  [protected]

void destroy (   )  [protected, virtual]

destroys vehicle and space

double dGeomGetPositionAll (  dGeomID  basis, int  para )  [protected]

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.

MuscledArmConf getDefaultConf (   )  [inline, static]

Primitive * getMainObject (   )  const [virtual]

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. Reimplemented from Configurable.

int getSegmentsPosition (  std::vector< Position > &  poslist  )  [virtual]

returns a vector with the positions of all segments of the robot Parameters: poslist  vector of positions (of all robot segments) Returns: length of the list

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, protected]

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]

draws the arm Implements OdeRobot.

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Member Data Documentation

const int armanzahl = 3 [static, protected]

double base_length [protected]

double base_width [protected]

MuscledArmConf conf [protected]

bool created [protected]

paramval damping [protected]

paramval factorMotors [protected]

paramval factorSensors [protected]

double force_[6]

double gelenkabstand [protected]

Joint* joint[NUMJoints] [protected]

double joint_offset [protected]

double lowerArm_length [protected]

double lowerArm_width [protected]

double mainMuscle_length [protected]

double mainMuscle_width [protected]

double max_l [protected]

double max_r [protected]

double min_l [protected]

double min_r [protected]

int motorno [protected]

Primitive* object[NUMParts] [protected]

Position old_dist[NUMParts] [protected]

dSpaceID parentspace [protected]

Reimplemented from OdeRobot.

paramval print [protected]

int printed [protected]

int segmentsno [protected]

int sensorno [protected]

double smallMuscle_length [protected]

double smallMuscle_width [protected]

double SOCKEL_BREITE [protected]

double SOCKEL_HOEHE [protected]

double SOCKEL_LAENGE [protected]

double SOCKEL_MASSE [protected]

double upperArm_length [protected]

double upperArm_width [protected]

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

• muscledarm.h
• muscledarm.cpp

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