One2OneWiring Class Reference

Implements one to one wiring of robot sensors to inputs of the controller and controller outputs to robot motors. More...

#include <one2onewiring.h>

Inherits AbstractWiring.

Inherited by MotorNoiseWiring, SelectiveNoiseWiring, and SelectiveOne2OneWiring.

Collaboration diagram for One2OneWiring:

[legend]

List of all members.

Public Member Functions
	One2OneWiring (NoiseGenerator *noise, int plotMode=Controller, int blind=0, const std::string &name="One2OneWiring")
	constructor
virtual	~One2OneWiring ()
	destructor
Protected Member Functions
virtual bool	initIntern ()
	initializes the number of sensors and motors on robot side, calculate number of sensors and motors on controller side
virtual bool	wireSensorsIntern (const sensor *rsensors, int rsensornumber, sensor *csensors, int csensornumber, double noise)
	Realizes one to one wiring from robot sensors to controller sensors.
virtual bool	wireMotorsIntern (motor *rmotors, int rmotornumber, const motor *cmotors, int cmotornumber)
	Realizes one to one wiring from controller motor outputs to robot motors.
Protected Attributes
int	blind
motor *	blindmotors
	number of blind channels

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Detailed Description

Implements one to one wiring of robot sensors to inputs of the controller and controller outputs to robot motors.

Examples:

integration/main.cpp, and template_sphererobot/main.cpp.

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Constructor & Destructor Documentation

One2OneWiring	(	NoiseGenerator *	noise,
		int	plotMode = Controller,
		int	blind = 0,
		const std::string &	name = "One2OneWiring"
	)

constructor

Parameters:

	noise	NoiseGenerator that is used for adding noise to sensor values
	plotMode	see AbstractWiring
	blind	number of blind channels (additional sensors and motors coupled directly)

~One2OneWiring

(

)

[virtual]

destructor

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Member Function Documentation

bool initIntern

(

)

[protected, virtual]

initializes the number of sensors and motors on robot side, calculate number of sensors and motors on controller side

initializes the number of sensors and motors from robot, calculate

Implements AbstractWiring.

Reimplemented in MotorNoiseWiring, and SelectiveOne2OneWiring.

bool wireMotorsIntern	(	motor *	rmotors,
		int	rmotornumber,
		const motor *	cmotors,
		int	cmotornumber
	)			[protected, virtual]

Realizes one to one wiring from controller motor outputs to robot motors.

Parameters:

	rmotors	pointer to array of motorvalues for robot
	rmotornumber	number of robot motors
	cmotors	pointer to array of motorvalues from controller
	cmotornumber	number of motorvalues from controller

Implements AbstractWiring.

Reimplemented in MotorNoiseWiring.

bool wireSensorsIntern	(	const sensor *	rsensors,
		int	rsensornumber,
		sensor *	csensors,
		int	csensornumber,
		double	noise
	)			[protected, virtual]

Realizes one to one wiring from robot sensors to controller sensors.

Parameters:

	rsensors	pointer to array of sensorvalues from robot
	rsensornumber	number of sensors from robot
	csensors	pointer to array of sensorvalues for controller
	csensornumber	number of sensors to controller
	noise	size of the noise added to the sensors

Implements AbstractWiring.

Reimplemented in SelectiveNoiseWiring, and SelectiveOne2OneWiring.

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Member Data Documentation

int blind [protected]

motor* blindmotors [protected]

number of blind channels

blind motor values

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

• one2onewiring.h
• one2onewiring.cpp