SchlangeServo2 Class Reference

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

#include <schlangeservo2.h>

Inherits Schlange.

Inherited by PlattfussSchlange.

Inheritance diagram for SchlangeServo2:

[legend]Collaboration diagram for SchlangeServo2:

[legend]List of all members.

Public Member Functions
	SchlangeServo2 (const OdeHandle &odeHandle, const OsgHandle &osgHandle, const SchlangeConf &conf, const std::string &name, const std::string &revision="")
virtual	~SchlangeServo2 ()
virtual void	setMotors (const motor *motors, int motornumber)
	Reads the actual motor commands from an array, an 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< UniversalServo * >	servos

---

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 powered by 2 servos

---

Constructor & Destructor Documentation

SchlangeServo2 (  const OdeHandle &  odeHandle, const OsgHandle &  osgHandle, const SchlangeConf &  conf, const std::string &  name, const std::string &  revision = "" )

~SchlangeServo2 (   )  [virtual]

---

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 Schlange.

void destroy (   )  [private, virtual]

destroys vehicle and space Reimplemented from Schlange.

virtual int getMotorNumber (   )  [inline, virtual]

returns number of motors Implements Schlange.

virtual int getSensorNumber (   )  [inline, virtual]

returns number of sensors Implements Schlange.

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 Schlange.

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

Reads the actual motor commands from an array, an 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 Schlange.

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

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

---

Member Data Documentation

std::vector<UniversalServo*> servos [private]

---

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

• schlangeservo2.h
• schlangeservo2.cpp

---