Arm2Segm Class Reference

#include <arm2segm.h>

Inherits lpzrobots::OdeRobot.

Collaboration diagram for Arm2Segm:

[legend]

List of all members.

Public Member Functions
	Arm2Segm (const OdeHandle &odeHandle, const OsgHandle &osgHandle, const Arm2SegmConf)
virtual	~Arm2Segm ()
virtual void	update ()
	update the subcomponents
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 int	getSegmentsPosition (std::vector< Position > &poslist)
	returns a vector with the positions of all segments of the robot
virtual Primitive *	getMainPrimitive () const
	the main object of the robot, which is used for position and speed tracking
virtual void	doInternalStuff (GlobalData &globalData)
	this function is called in each simulation timestep (always after control).
Static Public Member Functions
static Arm2SegmConf	getDefaultConf ()
Protected Member Functions
virtual void	create (const osg::Matrix &pose)
	creates vehicle at desired pose
virtual void	destroy ()
	destroys vehicle and space
Protected Attributes
dSpaceID	parentspace
Arm2SegmConf	conf
std::vector< AngularMotor1Axis * >	amotors
std::string	name
paramval	speed
paramval	factorSensors
int	sensorno
int	motorno
bool	created

---

Constructor & Destructor Documentation

Arm2Segm	(	const OdeHandle &	odeHandle,
		const OsgHandle &	osgHandle,
		const Arm2SegmConf	armConf
	)

virtual ~Arm2Segm

(

)

[inline, virtual]

---

Member Function Documentation

void create

(

const osg::Matrix &

pose

)

[protected, virtual]

creates vehicle at desired pose

creates vehicle at desired position

Parameters:

pose

4x4 pose matrix

pose

pose

pose

void destroy

(

)

[protected, virtual]

destroys vehicle and space

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.

static Arm2SegmConf getDefaultConf

(

)

[inline, static]

Primitive * getMainPrimitive

(

)

const [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.

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 place

(

const osg::Matrix &

pose

)

[virtual]

sets the pose of the vehicle

sets the vehicle to position pos, sets color to c, and creates robot if necessary

Parameters:

	pose	desired 4x4 pose matrix
	pose	desired position of the robot in struct Position

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.

void update

(

)

[virtual]

update the subcomponents

Implements OdeRobot.

---

Member Data Documentation

std::vector<AngularMotor1Axis*> amotors [protected]

Arm2SegmConf conf [protected]

bool created [protected]

paramval factorSensors [protected]

int motorno [protected]

std::string name [protected]

Reimplemented from Configurable.

dSpaceID parentspace [protected]

Reimplemented from OdeRobot.

int sensorno [protected]

paramval speed [protected]

---

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

• arm2segm.h
• arm2segm.cpp