Sphererobot Class Reference

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

#include <sphererobot.h>

Inheritance diagram for Sphererobot:

[legend]Collaboration diagram for Sphererobot:


Public Types
enum	objects { Base, Pendular, Pole1Bot, Pole2Bot, Pole3Bot, Pole1Top, Pole2Top, Pole3Top, Last }
Public Member Functions
	Sphererobot (const OdeHandle &odeHandle, const OsgHandle &osgHandle, const SphererobotConf &conf, const std::string &name)
virtual	~Sphererobot ()
virtual void	update ()
	update the subcomponents
virtual void	place (const osg::Matrix &pose)
	sets the pose of the vehicle
virtual bool	collisionCallback (void *data, dGeomID o1, dGeomID o2)
	This is the collision handling function for snake robots.
virtual void	doInternalStuff (const GlobalData &globalData)
	this function is called in each timestep.
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 int	getSegmentsPosition (std::vector< Position > &poslist)
	returns a vector with the positions of all segments of the robot
virtual Primitive *	getMainPrimitive () const
	the main object of the robot, which is used for position and speed tracking
Static Public Member Functions
SphererobotConf	getDefaultConf ()
Public Attributes
SliderServo *	servo [3]
Primitive *	object [Last]
SliderJoint *	slider [3]
Joint *	joint [6]
Protected Member Functions
virtual void	create (const osg::Matrix &pose)
	creates vehicle at desired position
virtual void	destroy ()
	destroys vehicle and space
Protected Attributes
SphererobotConf	conf
bool	created
Static Protected Attributes
const int	sensorno = 9

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

Member Enumeration Documentation

enum objects

Enumeration values:

Base

Pendular

Pole1Bot

Pole2Bot

Pole3Bot

Pole1Top

Pole2Top

Pole3Top

Last

Constructor & Destructor Documentation

Sphererobot ( const OdeHandle & odeHandle,

const OsgHandle & osgHandle,

const SphererobotConf & conf,

const std::string & name

)

~Sphererobot ( ) [virtual]

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

Implements OdeRobot.

void create ( const osg::Matrix & pose ) [protected, virtual]

creates vehicle at desired position

Parameters:

pose 4x4 pose matrix

void destroy ( ) [protected, virtual]

destroys vehicle and space

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.

SphererobotConf getDefaultConf ( ) [inline, static]

virtual Primitive* getMainPrimitive ( ) const [inline, virtual]

the main object of the robot, which is used for position and speed tracking

Implements OdeRobot.

int getMotorNumber ( ) [virtual]

Returns the number of motors used by the snake.

Returns:
number of motors

Implements AbstractRobot.

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

returns a vector with the positions of all segments of the robot

Parameters:

vector of positions (of all robot segments)

Returns:
length of the list

int getSensorNumber ( ) [virtual]

Returns the number of sensors used by the robot.

Returns:
number of sensors

Implements AbstractRobot.

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 AbstractRobot.

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]

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

Implements AbstractRobot.