Arm Class Reference

#include <arm.h>

Inherits lpzrobots::OdeRobot.

Collaboration diagram for Arm:

[legend]

List of all members.

Public Member Functions
	Arm (const OdeHandle &odeHandle, const OsgHandle &osgHandle, const ArmConf &conf, const std::string &name)
virtual	~Arm ()
virtual paramkey	getName () const
	return the name of the object
virtual void	place (const osg::Matrix &pose)
	sets the pose of the vehicle
virtual void	update ()
	update the subcomponents
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 int	getSegmentsPosition (std::vector< Position > &poslist)
	returns a vector with the positions of all segments of the robot
void	getEndeffectorPosition (double *position)
	returns the position of the endeffector (hand)
virtual void	doInternalStuff (GlobalData &globalData)
	this function is called in each timestep.
virtual void	notifyOnChange (const paramkey &key)
	Is called when a parameter was changes via setParam().
virtual Primitive *	getMainObject () const
virtual Primitive *	getMainPrimitive () const
	the main object of the robot, which is used for position and speed tracking
void	setDlearnTargetHack (double *post)
void	setDmotorTargetHack (double *post)
Static Public Member Functions
static ArmConf	getDefaultConf ()
Protected Member Functions
virtual void	create (const osg::Matrix &pose)
	creates vehicle at desired pose
virtual void	destroy ()
	destroys vehicle and space
void	hitTarget ()
double	dBodyGetPositionAll (dBodyID basis, int para)
double	dGeomGetPositionAll (dGeomID basis, int para)
void	BodyCreate (int n, dMass m, dReal x, dReal y, dReal z, dReal qx, dReal qy, dReal qz, dReal qangle)
Static Protected Member Functions
static void	mycallback (void *data, dGeomID o1, dGeomID o2)
Protected Attributes
ArmConf	conf
matrix::Matrix	endeff
paramval	factorSensors
paramval	print
std::vector< HingeServo * >	hingeServos
int	sensorno
int	motorno
bool	created
dSpaceID	parentspace
int	printed

---

Constructor & Destructor Documentation

Arm	(	const OdeHandle &	odeHandle,
		const OsgHandle &	osgHandle,
		const ArmConf &	conf,
		const std::string &	name
	)

virtual ~Arm

(

)

[inline, virtual]

---

Member Function Documentation

void BodyCreate	(	int	n,
		dMass	m,
		dReal	x,
		dReal	y,
		dReal	z,
		dReal	qx,
		dReal	qy,
		dReal	qz,
		dReal	qangle
	)			[protected]

void create

(

const osg::Matrix &

pose

)

[protected, virtual]

creates vehicle at desired pose

creates arm at desired position

Parameters:

	pose	4x4 pose matrix
	snowmanmode	snowman body

double dBodyGetPositionAll	(	dBodyID	basis,
		int	para
	)			[protected]

void destroy

(

)

[protected, virtual]

destroys vehicle and space

double dGeomGetPositionAll	(	dGeomID	basis,
		int	para
	)			[protected]

void doInternalStuff

(

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

Reimplemented from OdeRobot.

static ArmConf getDefaultConf

(

)

[inline, static]

void getEndeffectorPosition

(

double *

position

)

returns the position of the endeffector (hand)

Parameters:

position

vector position vector

virtual Primitive* getMainObject

(

)

const [inline, virtual]

virtual Primitive* getMainPrimitive

(

)

const [inline, virtual]

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

Reimplemented from OdeRobot.

virtual int getMotorNumber

(

)

[inline, virtual]

returns number of motors

Implements AbstractRobot.

virtual paramkey getName

(

)

const [inline, virtual]

return the name of the object

Reimplemented from Configurable.

int getSegmentsPosition

(

std::vector< Position > &

poslist

)

[virtual]

returns a vector with the positions of all segments of the robot

Parameters:

poslist

vector of positions (of all robot segments)

Returns:

length of the list

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

Parameters:

	sensors	sensors scaled to [-1,1] (more or less)
	sensornumber	length of the sensor array

Returns:

number of actually written sensors

Implements AbstractRobot.

void hitTarget

(

)

[protected]

static void mycallback	(	void *	data,
		dGeomID	o1,
		dGeomID	o2
	)			[static, protected]

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 setDlearnTargetHack

(

double *

post

)

void setDmotorTargetHack

(

double *

post

)

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 subcomponents

draws the arm

Implements OdeRobot.

---

Member Data Documentation

ArmConf conf [protected]

bool created [protected]

matrix::Matrix endeff [protected]

paramval factorSensors [protected]

std::vector<HingeServo*> hingeServos [protected]

int motorno [protected]

dSpaceID parentspace [protected]

Reimplemented from OdeRobot.

paramval print [protected]

int printed [protected]

int sensorno [protected]

---

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

• arm.h
• arm.cpp