Classes
class	AtomOdeAgent
	Specialised agent for ode robots. More...
class	OdeAgent
	Specialised agent for ode robots. More...
class	AngularMotor
	Abstract angular motor class. More...
class	AngularMotor1Axis
	Angular motor for OneAxisJoints. More...
class	AngularMotor2Axis
	Angular motor for TwoAxisJoints. More...
class	AngularMotor3AxisEuler
	Angular motor for Ball Joints with Euler control. More...
class	AngularMotorNAxis
	Angular motor for arbitrary Joints with custom axis (up to 3). More...
class	Hinge2Servo
	PID Servo motor for hinge2 joints at axis 1 (steering axis). More...
class	HingeServo
	PID Servo motor for hinge joints. More...
class	PID
class	SliderServo
	PID Servo motor for slider joints. More...
class	UniversalServo
	PID Servo motor for universal joints. More...
class	AbstractGround
class	AbstractObstacle
	Abstract class (interface) for obstacles. More...
class	ClosedPlayground
class	MeshGround
class	MeshObstacle
class	OctaPlayground
class	PassiveBox
	(Passive) box as obstacle More...
class	PassiveCapsule
	(Passive) capsule as obstacle More...
class	PassiveMesh
	(Passive) mesh as obstacle More...
class	PassiveSphere
	(Passive) sphere as obstacle More...
class	Playground
class	TerrainGround
	Class provides an terrain based on HeightFields. More...
class	OdeConfig
	The class $name holds the configurable parameters of the simulation environment. More...
class	MoveEarthySkyWithEyePointTransform
class	Base
class	BoundingShape
	class for reading bounding shape description files (.bbox) and to create appropriate geoms More...
class	CameraManipulator
	CameraManipulator is a MatrixManipulator which provides Flying simulator-like updating of the camera position & orientation. More...
class	CameraManipulatorFollow
	CameraManipulatorFollow is a MatrixManipulator which provides Flying simulator-like updating of the camera position & orientation. More...
class	CameraManipulatorRace
	CameraManipulatorRace is a MatrixManipulator which provides Flying simulator-like updating of the camera position & orientation. More...
class	CameraManipulatorTV
	CameraManipulatorTV is a MatrixManipulator which provides Flying simulator-like updating of the camera position & orientation. More...
class	ExtendedViewer
	A Producer-based viewer. More...
struct	Indices
struct	Vertex
class	HeightField
	Height field primitive. More...
class	InvisibleBox
class	InvisibleSphere
class	InvisibleCapsule
class	Joint
class	OneAxisJoint
class	TwoAxisJoint
class	FixedJoint
class	HingeJoint
class	Hinge2Joint
class	UniversalJoint
class	BallJoint
class	SliderJoint
class	MotionBlurDrawCallback
	a class that enables motion blur for the scenegraph should be called in the main simulation loop More...
class	OSGHeightField
	Graphical HeightField. More...
class	OSGPrimitive
	Interface class for graphic primitives like spheres, boxes, and meshes, which can be drawn by OSG. More...
class	OSGDummy
	A dummy graphical object, which has no representation in the graphical world. More...
class	OSGPlane
	Graphical plane (represented as a large thin box, because OSG does not draw planes). More...
class	OSGBox
	Graphical box. More...
class	OSGSphere
	Graphical sphere. More...
class	OSGCapsule
	Graphical capsule (a cylinder with round ends). More...
class	OSGCylinder
	Graphical cylinder. More...
class	OSGMesh
	Graphical Mesh or arbitrary OSG model. More...
class	Primitive
	Interface class for primitives represented in the physical and graphical world. More...
class	Plane
	Plane primitive. More...
class	Box
	Box primitive. More...
class	Sphere
	Sphere primitive. More...
class	Capsule
	Capsule primitive. More...
class	Cylinder
	Cylinder primitive. More...
class	Mesh
	Mesh primitive. More...
class	Transform
	Primitive for transforming a geom (primitive without body) in respect to a body (primitive with body). More...
class	DummyPrimitive
	Dummy Primitive which returns 0 for geom and body. More...
struct	Arm2SegmConf
class	Arm2Segm
struct	repSlider
struct	AtomConf
struct	TableLine
class	AtomComponent
	AtomComponent. More...
class	AtomComponent::connectionAddition
class	Barrel2Masses
	A barrel-like robot with 2 internal masses, which can slide on their orthogonal axes. More...
class	CaterPillar
	This is a class, which models a snake like robot. More...
struct	_ComponentConf
class	Component
	This is the abstract base class of the component system. More...
struct	Component::componentConnection
	This is the structure of one connection between two components. More...
struct	CaterPillarConf
class	DefaultCaterPillar
	This is a class, which models a snake like robot. More...
struct	WheelieConf
class	DefaultWheelie
	This is a class, which models a snake like robot. More...
class	ForcedSphereConf
class	ForcedSphere
class	Formel1
	Robot that looks like a Nimm 2 Bonbon :-) 4 wheels and a capsule like body. More...
class	HurlingSnake
	Hurling snake is a string a beats. More...
struct	MuscledArmConf
class	MuscledArm
struct	Bumper
struct	Nimm2Conf
class	Nimm2
	Robot that looks like a Nimm 2 Bonbon :-) 2 wheels and a cylinder like body. More...
class	Nimm4
	Robot that looks like a Nimm 2 Bonbon :-) 4 wheels and a capsule like body. More...
class	OdeRobot
	Abstract class for ODE robots. More...
class	PlattfussSchlange
	This is a class, which models a snake like robot with flat ends and a big body in the middle. More...
class	PrimitiveComponent
	Component consisting of one Primitive. More...
class	RobotComponent
	This is a special class of the component system. More...
struct	SchlangeConf
class	Schlange
	This is a class, which models a snake like robot. More...
class	SchlangeForce
	This is a class, which models a snake like robot. More...
class	SchlangeServo
	This is a class, which models a snake like robot. More...
class	SchlangeServo2
	This is a class, which models a snake like robot. More...
class	SchlangeVelocity
	This is a class, which models a snake like robot. More...
class	ShortCircuit
class	SimpleComponent
	A simple component is a special form of component. More...
struct	SliderWheelieConf
class	SliderWheelie
	This is a class, which models an annular robot. More...
struct	SphererobotConf
class	Sphererobot
	This is a class, which models a snake like robot. More...
struct	Sphererobot3MassesConf
	configuration object for the Sphererobot3Masses robot. More...
class	Sphererobot3Masses
	A spherical robot with 3 internal masses, which can slide on their orthogonal axes. More...
class	TruckMesh
	Robot that looks like a Nimm 2 Bonbon :-) 4 wheels and a truck mesh like body. More...
struct	UwoConf
class	Uwo
	UWO: Unknown Walk Object :-), looks like a plate with a lot of legs. More...
class	Wheelie
	This is a class, which models an annular robot. More...
class	AxisOrientationSensor
	Class for sensing the axis orienation of a primitive (robot). More...
class	IRSensor
	Class for IR sensors. More...
class	RaySensor
	Abstract class for Ray-based sensors. More...
class	RaySensorBank
	Class for a bank (collection) of ray sensors. More...
class	RelativePositionSensor
	Class for relative position sensing. More...
class	Sensor
	Abstract class for sensors that have no specific position at the robots skeleton. More...
class	SpeedSensor
	Class for speed sensing of robots. More...
class	Simulation
struct	HandConf
class	Hand
	Artificial Hand. More...
class	Axis
class	Color
class	IException
struct	GlobalData
	Data structure holding all essential global information. More...
class	VideoStream
class	OdeHandle
	Data structure for accessing the ODE. More...
class	OsgHandle
	Data structure for accessing the ODE. More...
class	Pos
Typedefs
typedef lpzrobots::_ComponentConf	ComponentConf
typedef lpzrobots::Bumper	Bumper
typedef std::vector< AbstractObstacle * >	ObstacleList
typedef std::vector< Configurable * >	ConfigList
typedef std::vector< OdeAgent * >	OdeAgentList
typedef lpzrobots::GlobalData	GlobalData
	Data structure holding all essential global information.
Enumerations
enum	parts {   base, upperArm, lowerArm, mainMuscle11,   mainMuscle12, mainMuscle21, mainMuscle22, smallMuscle11,   smallMuscle12, smallMuscle21, smallMuscle22, smallMuscle31,   smallMuscle32, smallMuscle41, smallMuscle42, hand,   NUMParts }
enum	joints {   HJ_BuA, HJ_uAlA, HJ_BmM11, HJ_lAmM12,   HJ_BmM21, HJ_lAmM22, HJ_BsM11, HJ_uAsM12,   HJ_BsM21, HJ_uAsM22, HJ_lAsM31, HJ_uAsM32,   HJ_lAsM41, HJ_uAsM42, SJ_mM1, SJ_mM2,   SJ_sM1, SJ_sM2, SJ_sM3, SJ_sM4,   FJ_lAH, NUMJoints }
enum	Hand_Is_Drawn_Under_Angel { Is_Draw_under_180_degree, Is_Draw_under_90_degree }
enum	Motor_type { With_servo_motor, Without_servo_motor }
enum	IrSensor_Type { irDrawAll, irBack, irSide, irFront }
enum	Draw_Part_of_Ir_Sensor { Draw_All, Draw_just_Sensor, Draw_just_Ray, Draw_Nothing }
enum	GripMode { lateral, precision }
Functions
ref_ptr< Material >	getMaterial (const Color &c, Material::ColorMode mode=Material::DIFFUSE)
osg::Matrix	osgPose (dGeomID geom)
	returns the osg (4x4) pose matrix of the ode geom
osg::Matrix	osgPose (dBodyID body)
	returns the osg (4x4) pose matrix of the ode body
osg::Matrix	osgPose (const double *V, const double *R)
	converts a position vector and a rotation matrix from ode to osg 4x4 matrix
void	odeRotation (const osg::Matrix &pose, dMatrix3 &odematrix)
	converts the rotation component of pose into an ode rotation matrix
int	contains (char **list, int len, const char *str)
	returns the index+1 if the list contains the given string or 0 if not
void	showParams (const ConfigList &configs)
	shows all parameters of all given configurable objects
void	changeParams (GlobalData &globalData)
	offers the possibility to change parameter of all configurable objects in globalData.
void	createNewDir (const char *base, char *newdir)
	creates a new directory with the stem base, which is not yet there (using subsequent numbers)
	EXCEPTION_TEMPLATE (IndexOutOfBoundsException)
	EXCEPTION_TEMPLATE (InvalidArgumentException)
	EXCEPTION_TEMPLATE (DimensionMismatchException)
osg::Matrix	osgRotate (const double &alpha, const double &beta, const double &gamma)
	returns a rotation matrix (osg) with the given angles alpha, beta and gamma
Matrix	osgMatrix2Matrixlib (const osg::Matrix &m)
	converts osg matrix to matrix of matrixlib
osg::Matrix	rotationMatrixFromAxisX (const Axis &axis)
	returns a Rotation matrix that rotates the x-axis along with the given axis.
osg::Matrix	rotationMatrixFromAxisZ (const Axis &axis)
	returns a Rotation matrix that rotates the z-axis along with the given axis.
double	getAngle (const osg::Vec3 &a, const osg::Vec3 &b)
	returns the angle between two vectors (in rad)
matrix::Matrix	odeRto3x3RotationMatrixT (const double R[12])
	converts an ode rotation matrix into a 3x3 rotation matrix (matrixlib)
matrix::Matrix	odeRto3x3RotationMatrix (const double R[12])
	converts an ode rotation matrix into a 3x3 rotation matrix (matrixlib)
Position	multMatrixPosition (const Matrix &r, Position &p)
	Multiplies 3x3 matrix with position.
Matrix	getRotationMatrix (const double &angle)
	returns a rotation matrix with the given angle
Matrix	getTranslationMatrix (const Position &p)
	returns a translation matrix with the given Position
Matrix	removeTranslationInMatrix (const Matrix &pose)
	removes the translation in the matrix
Matrix	removeRotationInMatrix (const Matrix &pose)
	removes the rotation in the matrix
double	getAngle (Position a, Position b)
	returns the angle between two vectors
template<typename T> T	clip (T v, T minimum, T maximum)
template<typename T> T	abs (T v)
template<typename T> T	normalize360 (T v)
Variables
char	fragmentShaderSource_noBaseTexture []
char	fragmentShaderSource_withBaseTexture []

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Typedef Documentation

typedef struct lpzrobots::Bumper Bumper

typedef struct lpzrobots::_ComponentConf ComponentConf

typedef std::vector<Configurable*> ConfigList

typedef struct lpzrobots::GlobalData GlobalData

Data structure holding all essential global information.

typedef std::vector<AbstractObstacle*> ObstacleList

typedef std::vector<OdeAgent*> OdeAgentList

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Enumeration Type Documentation

enum Draw_Part_of_Ir_Sensor

Enumeration values: Draw_All  Draw_just_Sensor  Draw_just_Ray  Draw_Nothing

enum GripMode

Enumeration values: lateral  precision

enum Hand_Is_Drawn_Under_Angel

Enumeration values: Is_Draw_under_180_degree  Is_Draw_under_90_degree

enum IrSensor_Type

Enumeration values: irDrawAll  irBack  irSide  irFront

enum joints

Enumeration values: HJ_BuA  HJ_uAlA  HJ_BmM11  HJ_lAmM12  HJ_BmM21  HJ_lAmM22  HJ_BsM11  HJ_uAsM12  HJ_BsM21  HJ_uAsM22  HJ_lAsM31  HJ_uAsM32  HJ_lAsM41  HJ_uAsM42  SJ_mM1  SJ_mM2  SJ_sM1  SJ_sM2  SJ_sM3  SJ_sM4  FJ_lAH  NUMJoints

enum Motor_type

Enumeration values: With_servo_motor  Without_servo_motor

enum parts

Enumeration values: base  upperArm  lowerArm  mainMuscle11  mainMuscle12  mainMuscle21  mainMuscle22  smallMuscle11  smallMuscle12  smallMuscle21  smallMuscle22  smallMuscle31  smallMuscle32  smallMuscle41  smallMuscle42  hand  NUMParts

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Function Documentation

T abs (  T  v  )  [inline]

void changeParams (  GlobalData &  globalData  )

offers the possibility to change parameter of all configurable objects in globalData.

T clip (  T  v, T  minimum, T  maximum )  [inline]

int contains (  char **  list, int  len, const char *  str )

returns the index+1 if the list contains the given string or 0 if not Examples: integration/main.cpp, and main.cpp.

void createNewDir (  const char *  base, char *  newdir )

creates a new directory with the stem base, which is not yet there (using subsequent numbers)

EXCEPTION_TEMPLATE (  DimensionMismatchException   )

EXCEPTION_TEMPLATE (  InvalidArgumentException   )

EXCEPTION_TEMPLATE (  IndexOutOfBoundsException   )

double getAngle (  Position  a, Position  b )

returns the angle between two vectors

double getAngle (  const osg::Vec3 &  a, const osg::Vec3 &  b )

returns the angle between two vectors (in rad)

ref_ptr< Material > getMaterial (  const Color &  c, Material::ColorMode  mode = Material::DIFFUSE )

matrix::Matrix getRotationMatrix (  const double &  angle  )

returns a rotation matrix with the given angle

matrix::Matrix getTranslationMatrix (  const Position &  p  )

returns a translation matrix with the given Position

Position multMatrixPosition (  const matrix::Matrix &  r, Position &  p )

Multiplies 3x3 matrix with position.

T normalize360 (  T  v  )  [inline]

void odeRotation (  const osg::Matrix &  pose, dMatrix3 &  odematrix )

converts the rotation component of pose into an ode rotation matrix

matrix::Matrix odeRto3x3RotationMatrix (  const double  R[12]  )

converts an ode rotation matrix into a 3x3 rotation matrix (matrixlib) Examples: sphererobot3masses.cpp.

matrix::Matrix odeRto3x3RotationMatrixT (  const double  R[12]  )

converts an ode rotation matrix into a 3x3 rotation matrix (matrixlib)

matrix::Matrix osgMatrix2Matrixlib (  const osg::Matrix &  m  )

converts osg matrix to matrix of matrixlib

osg::Matrix osgPose (  const double *  position, const double *  rotation )

converts a position vector and a rotation matrix from ode to osg 4x4 matrix

osg::Matrix osgPose (  dBodyID  body  )

returns the osg (4x4) pose matrix of the ode body

osg::Matrix osgPose (  dGeomID  geom  )

returns the osg (4x4) pose matrix of the ode geom

osg::Matrix osgRotate (  const double &  alpha, const double &  beta, const double &  gamma )

returns a rotation matrix (osg) with the given angles alpha, beta and gamma

Matrix removeRotationInMatrix (  const matrix::Matrix &  pose  )

removes the rotation in the matrix

Matrix removeTranslationInMatrix (  const matrix::Matrix &  pose  )

removes the translation in the matrix

osg::Matrix rotationMatrixFromAxisX (  const Axis &  axis  )

returns a Rotation matrix that rotates the x-axis along with the given axis. The other 2 axis (y,z) are ambiguous.

osg::Matrix rotationMatrixFromAxisZ (  const Axis &  axis  )

returns a Rotation matrix that rotates the z-axis along with the given axis. The other 2 axis (x,y) are ambiguous.

void showParams (  const ConfigList &  configs  )

shows all parameters of all given configurable objects

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Variable Documentation

char fragmentShaderSource_noBaseTexture[]

Initial value: "uniform sampler2DShadow shadowTexture; \n" "uniform vec2 ambientBias; \n" "\n" "void main(void) \n" "{ \n" " ambientBias.x=0.8f; \n" " ambientBias.y=0.4f; \n" " gl_FragColor = gl_Color * (ambientBias.x + shadow2DProj( shadowTexture, gl_TexCoord[0] ) * ambientBias.y - 0.4f); \n" "}\n"

char fragmentShaderSource_withBaseTexture[]

Initial value: "uniform sampler2D baseTexture; \n" "uniform sampler2DShadow shadowTexture; \n" "uniform vec2 ambientBias; \n" "\n" "void main(void) \n" "{ \n" " vec4 color = gl_Color* texture2D( baseTexture, gl_TexCoord[0].xy ); \n" " gl_FragColor = color * (ambientBias.x + shadow2DProj( shadowTexture, gl_TexCoord[1]) * ambientBias.y); \n" "}\n"

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