AddSensors2RobotAdapter Class Reference

Robot adapter to add sensors and also motors to robots without the need to modify the robot itself. More...

#include <addsensors2robotadapter.h>

Collaboration diagram for AddSensors2RobotAdapter:

Public Member Functions
	AddSensors2RobotAdapter (const OdeHandle &odeHandle, const OsgHandle &osgHandle, OdeRobot robot, const std::list< Sensor > &sensors=std::list< Sensor * >(), const std::list< Motor * > &motors=std::list< Motor * >(), bool sensors_before_rest=false)
	constructor of adapter
virtual	~AddSensors2RobotAdapter ()
virtual void	addSensor (Sensor *sensor)
	adds a sensor to the robot. Must be called before placement of the robot, otherwise it has no affect
virtual void	addMotor (Motor *motor)
	adds a motor to the robot. Must be called before placement of the robot, otherwise it has no affect
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)
virtual void	setColor (const Color &col)
	sets color of the robot
virtual int	getSensorNumber ()
	returns number of sensors
virtual int	getSensors (sensor *sensors_, int sensornumber)
	returns actual sensorvalues
virtual int	getMotorNumber ()
	returns number of motors
virtual void	setMotors (const motor *motors_, int motornumber)
	sets actual motorcommands
virtual std::list< Sensor * >	getAttachedSensors ()
void	sense (GlobalData &globalData)
	this function is called each controlstep before control.
void	doInternalStuff (GlobalData &globalData)
	this function is called in each simulation timestep (always after control).
virtual void	notifyOnChange (const paramkey &key)
	Is called when a parameter was changes via setParam().
virtual Primitive *	getMainPrimitive () const
	return the primitive of the robot that is used for tracking and camera following
virtual std::vector< Primitive * >	getAllPrimitives () const
	returns a list of all primitives of the robot (used to store and restore the robot)
virtual std::vector< Primitive * > &	getAllPrimitives ()
Protected Attributes
OdeRobot *	robot
std::list< Sensor * >	sensors
std::list< Motor * >	motors
bool	sensors_before_rest
bool	initialized
bool	askedfornumber

Detailed Description

Robot adapter to add sensors and also motors to robots without the need to modify the robot itself.

Examples are Speed sensors, microphons and beepers and so forth TODO: add inspectable, make configurable work! Maybe it is easier to add this into OdeRobot itself!

Constructor & Destructor Documentation

AddSensors2RobotAdapter	(	const OdeHandle &	odeHandle,
		const OsgHandle &	osgHandle,
		OdeRobot *	robot,
		const std::list< Sensor * > &	sensors = `std::list<Sensor*>()`,
		const std::list< Motor * > &	motors = `std::list<Motor*>()`,
		bool	sensors_before_rest = `false`
	)

constructor of adapter

Parameters:

	robot	robot the wrap and plug sensors in
	sensors	list of sensors to add
	motors	list of motors to add

~AddSensors2RobotAdapter ( ) [virtual]

Member Function Documentation

void addMotor ( Motor * motor ) [virtual]

adds a motor to the robot. Must be called before placement of the robot, otherwise it has no affect

void addSensor ( Sensor * sensor ) [virtual]

adds a sensor to the robot. Must be called before placement of the robot, otherwise it has no affect

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

Deprecated:: This function will be removed in 0.8 Do not use it anymore, collision control is done automatically. In case of a routine 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).

Reimplemented from OdeRobot.

void doInternalStuff ( GlobalData & globalData ) [virtual]

this function is called in each simulation timestep (always after control).

It should perform robot-internal checks and actions like resetting certain sensors or implement velocity dependend friction and the like. The attached Motors should act here.

Parameters:

globalData

structure that contains global data from the simulation environment

Reimplemented from OdeRobot.

virtual std::vector<Primitive*>& getAllPrimitives ( ) [inline, virtual]

Reimplemented from OdeRobot.

virtual std::vector<Primitive*> getAllPrimitives ( ) const [inline, virtual]

returns a list of all primitives of the robot (used to store and restore the robot)

Reimplemented from OdeRobot.

virtual std::list<Sensor*> getAttachedSensors ( ) [inline, virtual]

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

return the primitive of the robot that is used for tracking and camera following

Reimplemented from OdeRobot.

int getMotorNumber ( ) [virtual]

returns number of motors

Implements AbstractRobot.

int getSensorNumber ( ) [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 notifyOnChange ( const paramkey & key ) [virtual]

Is called when a parameter was changes via setParam().

Note that it is not called of parameters of childs are changed, then there notifyOnChange() method is called. The key and of the changed parameter (use getParam() to retrieve its actual value). Overload this function when special actions have to be taken on parameter changes.

Reimplemented from Configurable.

void place ( const osg::Matrix & pose ) [virtual]

sets the pose of the vehicle

Parameters:

pose

desired 4x4 pose matrix

Implements OdeRobot.

void sense ( GlobalData & globalData ) [virtual]

this function is called each controlstep before control.

This is the place the perform active sensing (e.g. Image processing)

Parameters:

globalData

structure that contains global data from the simulation environment

Reimplemented from OdeRobot.

virtual void setColor ( const Color & col ) [inline, virtual]

sets color of the robot

Parameters:

col

Color struct with desired Color

Reimplemented from 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.

void update ( ) [virtual]

update the OSG notes here

Implements OdeRobot.

Member Data Documentation

bool askedfornumber [protected]

bool initialized [protected]

std::list<Motor*> motors [protected]

OdeRobot* robot [protected]

std::list<Sensor*> sensors [protected]

bool sensors_before_rest [protected]

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

AddSensors2RobotAdapter Class Reference

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation