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Public Member Functions |
| Nimm2 (const OdeHandle &odehandle, const OsgHandle &osgHandle, const Nimm2Conf &conf, const std::string &name) |
virtual | ~Nimm2 () |
virtual void | update () |
| updates the osg notes and sensorbank
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virtual void | place (const osg::Matrix &pose) |
| sets the pose of the vehicle
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virtual int | getSensors (sensor *sensors, int sensornumber) |
| returns actual sensorvalues
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virtual void | setMotors (const motor *motors, int motornumber) |
| sets actual motorcommands
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virtual int | getSensorNumber () |
| returns number of sensors
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virtual int | getMotorNumber () |
| returns number of motors
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virtual int | getSegmentsPosition (std::vector< Position > &poslist) |
| returns a vector with the positions of all segments of the robot
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virtual bool | collisionCallback (void *data, dGeomID o1, dGeomID o2) |
| checks for internal collisions and treats them.
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virtual void | doInternalStuff (const GlobalData &globalData) |
| this function is called in each timestep.
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Static Public Member Functions |
Nimm2Conf | getDefaultConf () |
Protected Member Functions |
virtual Primitive * | getMainPrimitive () const |
| the main object of the robot, which is used for position and speed tracking
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virtual void | create (const osg::Matrix &pose) |
| creates vehicle at desired position
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virtual void | destroy () |
| destroys vehicle and space
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Static Protected Member Functions |
void | mycallback (void *data, dGeomID o1, dGeomID o2) |
Protected Attributes |
Nimm2Conf | conf |
double | length |
double | width |
double | height |
double | radius |
double | wheelthickness |
double | cmass |
double | wmass |
int | sensorno |
int | motorno |
bool | created |
double | max_force |
Primitive * | object [3] |
double | wheeloffset |
int | number_bumpers |
Bumper | bumper [2] |
Hinge2Joint * | joint [2] |
RaySensorBank | irSensorBank |