SchlangeVelocity Class Reference

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

#include <schlangevelocity.h>

Inherits Schlange.

Inheritance diagram for SchlangeVelocity:

[legend]Collaboration diagram for SchlangeVelocity:

[legend]List of all members.

Public Member Functions
	SchlangeVelocity (const OdeHandle &odeHandle, const OsgHandle &osgHandle, const SchlangeConf &conf, const std::string &name)
virtual	~SchlangeVelocity ()
virtual void	setMotors (const motor *motors, int motornumber)
	Reads the actual motor commands from an array, and 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
Static Public Member Functions
SchlangeConf	getDefaultConf ()
Private Member Functions
virtual void	create (const osg::Matrix &pose)
	creates vehicle at desired position
virtual void	destroy ()
	destroys vehicle and space
Private Attributes
paramval	factor_motors
paramval	factor_sensors
paramval	friction_joint

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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 powered by directly setting the angular velocities of the joints

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Constructor & Destructor Documentation

SchlangeVelocity (  const OdeHandle &  odeHandle, const OsgHandle &  osgHandle, const SchlangeConf &  conf, const std::string &  name )

~SchlangeVelocity (   )  [virtual]

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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.

SchlangeConf getDefaultConf (   )  [inline, static]

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, and 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.

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Member Data Documentation

paramval factor_motors [private]

paramval factor_sensors [private]

paramval friction_joint [private]

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

• schlangevelocity.h
• schlangevelocity.cpp

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