Uwo Class Reference

UWO: Unknown Walk Object :-), looks like a plate with a lot of legs. More...

#include <uwo.h>

Inherits OdeRobot.

Inheritance diagram for Uwo:

[legend]Collaboration diagram for Uwo:

[legend]List of all members.

Public Member Functions
	Uwo (const OdeHandle &odeHandle, const OsgHandle &osgHandle, const UwoConf &conf, const std::string &name)
	constructor of uwo robot
virtual	~Uwo ()
virtual void	update ()
	updates the osg notes
virtual void	place (const osg::Matrix &pose)
	sets the pose of the vehicle
virtual int	getSensors (sensor *sensors, int sensornumber)
	returns actual sensorvalues
virtual void	setMotors (const motor *motors, int motornumber)
	sets actual motorcommands
virtual int	getSensorNumber ()
	returns number of sensors
virtual int	getMotorNumber ()
	returns number of motors
virtual bool	collisionCallback (void *data, dGeomID o1, dGeomID o2)
	checks for internal collisions and treats them.
virtual void	doInternalStuff (const GlobalData &globalData)
	this function is called in each timestep.
virtual paramlist	getParamList () const
	The list of all parameters with there value as allocated lists.
virtual paramval	getParam (const paramkey &key) const
	returns the value of the requested parameter or 0 (+ error message to stderr) if unknown.
virtual bool	setParam (const paramkey &key, paramval val)
	sets the value of the given parameter or does nothing if unknown.
Static Public Member Functions
UwoConf	getDefaultConf ()
Protected Member Functions
virtual Primitive *	getMainPrimitive () const
	the main object of the robot, which is used for position and speed tracking
virtual void	create (const osg::Matrix &pose)
	creates vehicle at desired position
virtual void	destroy ()
	destroys vehicle and space
Protected Attributes
UwoConf	conf
double	legmass
bool	created
std::vector< Primitive * >	objects
std::vector< Joint * >	joints
std::vector< UniversalServo * >	servos

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Detailed Description

UWO: Unknown Walk Object :-), looks like a plate with a lot of legs.

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Constructor & Destructor Documentation

Uwo (  const OdeHandle &  odeHandle, const OsgHandle &  osgHandle, const UwoConf &  conf, const std::string &  name )

constructor of uwo robot Parameters: odeHandle  data structure for accessing ODE osgHandle  ata structure for accessing OSG size  scaling of robot force  maximal used force to realize motorcommand radialLegs  switches between cartensian and radial leg joints

virtual ~Uwo (   )  [inline, virtual]

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Member Function Documentation

bool collisionCallback (  void *  data, dGeomID  o1, dGeomID  o2 )  [virtual]

checks for internal collisions and treats them. In case of a treatment return true (collision will be ignored by other objects and the default routine) else false (collision is passed to other objects and (if not treated) to the default routine). 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.

UwoConf getDefaultConf (   )  [inline, static]

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

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

virtual int getMotorNumber (   )  [inline, virtual]

returns number of motors Implements AbstractRobot.

Configurable::paramval getParam (  const paramkey &  key  )  const [virtual]

returns the value of the requested parameter or 0 (+ error message to stderr) if unknown. Reimplemented from Configurable.

Configurable::paramlist getParamList (   )  const [virtual]

The list of all parameters with there value as allocated lists. Parameters: keylist,vallist  will be allocated with malloc (free it after use!) Returns: length of the lists Reimplemented from Configurable.

virtual int getSensorNumber (   )  [inline, virtual]

returns number of sensors Implements AbstractRobot.

int getSensors (  sensor *  sensors, int  sensornumber )  [virtual]

returns actual sensorvalues Parameters: sensors  sensors scaled to [-1,1] 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 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.

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

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

void update (   )  [virtual]

updates the osg notes Implements OdeRobot.

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Member Data Documentation

UwoConf conf [protected]

bool created [protected]

std::vector<Joint*> joints [protected]

double legmass [protected]

std::vector<Primitive*> objects [protected]

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

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

• uwo.h
• uwo.cpp

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