Sphererobot3Masses Class Reference

A spherical robot with 3 internal masses, which can slide on their orthogonal axes. More...

#include <sphererobot3masses.h>

Inherits OdeRobot.

Inherited by Barrel2Masses.

Inheritance diagram for Sphererobot3Masses:

[legend]Collaboration diagram for Sphererobot3Masses:

[legend]List of all members.


Public Types
enum	objects { Base, Pendular1, Pendular2, Pendular3, Last }
	enum for the objects of the robot More...
Public Member Functions
	Sphererobot3Masses (const OdeHandle &odeHandle, const OsgHandle &osgHandle, const Sphererobot3MassesConf &conf, const std::string &name, double transparency=0.5)
	constructor
virtual	~Sphererobot3Masses ()
virtual void	update ()
	update the OSG notes here
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 sphere 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)
	sets actual motorcommands
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 Primitive *	getMainPrimitive () const
	the main object of the robot, which is used for position and speed tracking
Static Public Member Functions
Sphererobot3MassesConf	getDefaultConf ()
	default configuration
Protected Member Functions
	Sphererobot3Masses (const OdeHandle &odeHandle, const OsgHandle &osgHandle, const Sphererobot3MassesConf &conf, const std::string &name, const std::string &revision, double transparency)
	constructor
void	init ()
	initialises some internal variables
virtual void	create (const osg::Matrix &pose)
	creates vehicle at desired position
virtual void	destroy ()
	destroys vehicle and space
Protected Attributes
unsigned int	numberaxis
Primitive *	object [Last]
SliderServo *	servo [servono]
SliderJoint *	joint [servono]
OSGPrimitive *	axis [servono]
Sphererobot3MassesConf	conf
RaySensorBank	irSensorBank
	a collection of ir sensors
double	transparency
bool	created
Static Protected Attributes
const int	servono = 3

Detailed Description

A spherical robot with 3 internal masses, which can slide on their orthogonal axes.

This robot was inspired by Julius Popp (http://sphericalrobots.com)

Member Enumeration Documentation

enum objects

enum for the objects of the robot

Enumeration values:

Base

Pendular1

Pendular2

Pendular3

Last

Constructor & Destructor Documentation

Sphererobot3Masses ( const OdeHandle & odeHandle,

const OsgHandle & osgHandle,

const Sphererobot3MassesConf & conf,

const std::string & name,

double transparency = 0.5

)

constructor

Sphererobot3Masses ( const OdeHandle & odeHandle,

const OsgHandle & osgHandle,

const Sphererobot3MassesConf & conf,

const std::string & name,

const std::string & revision,

double transparency

) [protected]

constructor

~Sphererobot3Masses ( ) [virtual]

Member Function Documentation

bool collisionCallback ( void * data,

dGeomID o1,

dGeomID o2

) [virtual]

This is the collision handling function for sphere 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:

pos struct Position with desired position

Reimplemented in Barrel2Masses.

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.

Sphererobot3MassesConf getDefaultConf ( ) [inline, static]

default configuration

Reimplemented in Barrel2Masses.

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 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:

sensor* pointer to the array

sensornumber length of the sensor array

Returns:
number of actually written sensors

Implements AbstractRobot.

Reimplemented in Barrel2Masses.

void init ( ) [protected]

initialises some internal variables

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.