Discus Class Reference

A spherical robot with 3 internal masses, which can slide on their orthogonal axes. More...

#include <discus.h>

Inherits lpzrobots::OdeRobot.

Collaboration diagram for Discus:

[legend]

List of all members.

Public Types
enum	objects {   Base, Stabilizer, Pendular1, Pendular2,   Pendular3, Last }
	enum for the objects of the robot More...
Public Member Functions
	Discus (const OdeHandle &odeHandle, const OsgHandle &osgHandle, const DiscusConf &conf, const std::string &name, double transparency=0.5)
	constructor
virtual	~Discus ()
virtual void	update ()
	update the OSG notes here
virtual void	place (const osg::Matrix &pose)
	sets the pose of the vehicle
virtual void	doInternalStuff (GlobalData &globalData)
	this function is called in each simulation timestep (always after control).
virtual int	getSensors (sensor *sensors, int sensornumber)
	Writes the sensor values to an array in the memory.
virtual void	setMotors (const motor *motors, int motornumber)
	sets actual motorcommands
virtual int	getMotorNumber ()
	returns number of motors
virtual int	getSensorNumber ()
	returns number of sensors
virtual Primitive *	getMainPrimitive () const
	return the primitive of the robot that is used for tracking and camera following
Static Public Member Functions
static DiscusConf	getDefaultConf ()
	default configuration
Protected Member Functions
	Discus (const OdeHandle &odeHandle, const OsgHandle &osgHandle, const DiscusConf &conf, const std::string &name, const std::string &revision, double transparency)
	constructor for children
void	init ()
	initialises some internal variables
virtual void	create (const osg::Matrix &pose)
	creates vehicle at desired position and orientation
virtual void	destroy ()
	destroys vehicle and space
Protected Attributes
Primitive *	object [Last]
SliderServo *	servo [maxservono]
SliderJoint *	joint [maxservono]
OSGPrimitive *	axis [maxservono]
DiscusConf	conf
RaySensorBank	irSensorBank
	a collection of ir sensors
double	transparency
bool	created
Static Protected Attributes
static const int	maxservono = 3

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Detailed Description

A spherical robot with 3 internal masses, which can slide on their orthogonal axes.

This robot was inspired by Julius Popp (http://sphericalrobots.com)

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Member Enumeration Documentation

enum objects

enum for the objects of the robot

Enumerator:

Base
Stabilizer
Pendular1
Pendular2
Pendular3
Last

Reimplemented from OdeRobot.

---

Constructor & Destructor Documentation

Discus	(	const OdeHandle &	odeHandle,
		const OsgHandle &	osgHandle,
		const DiscusConf &	conf,
		const std::string &	name,
		double	transparency = 0.5
	)

constructor

Discus	(	const OdeHandle &	odeHandle,
		const OsgHandle &	osgHandle,
		const DiscusConf &	conf,
		const std::string &	name,
		const std::string &	revision,
		double	transparency
	)			[protected]

constructor for children

constructor

~Discus

(

)

[virtual]

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Member Function Documentation

void create

(

const osg::Matrix &

pose

)

[protected, virtual]

creates vehicle at desired position and orientation

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 DiscusConf getDefaultConf

(

)

[inline, static]

default configuration

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]

Writes the sensor values to an array in the memory.

Parameters:

	sensor*	pointer to the array
	sensornumber	length of the sensor array

Returns:

number of actually written sensors

Implements AbstractRobot.

void init

(

)

[protected]

initialises some internal variables

void place

(

const osg::Matrix &

pose

)

[virtual]

sets the pose of the vehicle

Parameters:

pose

desired 4x4 pose matrix

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 OSG notes here

Implements OdeRobot.

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Member Data Documentation

OSGPrimitive* axis[maxservono] [protected]

DiscusConf conf [protected]

bool created [protected]

RaySensorBank irSensorBank [protected]

a collection of ir sensors

SliderJoint* joint[maxservono] [protected]

const int maxservono = 3 [static, protected]

Primitive* object[Last] [protected]

SliderServo* servo[maxservono] [protected]

double transparency [protected]

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

• discus.h
• discus.cpp