ForcedSphere Class Reference

#include <forcedsphere.h>

Inherits lpzrobots::OdeRobot.

Collaboration diagram for ForcedSphere:

[legend]

List of all members.

Public Types
enum	Dimensions { X = 1, Y = 2, Z = 4 }
Public Member Functions
	ForcedSphere (const OdeHandle &odeHandle, const OsgHandle &osgHandle, const ForcedSphereConf &ForcedSphereConf, const std::string &name)
	constructor
virtual	~ForcedSphere ()
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)
	returns actual sensorvalues
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 ForcedSphereConf	getDefaultConf ()
Protected Member Functions
virtual void	create (const osg::Matrix &pose)
virtual void	destroy ()
Protected Attributes
Primitive *	object [1]
bool	created
ForcedSphereConf	conf

---

Member Enumeration Documentation

enum Dimensions

Enumerator:

X
Y
Z

---

Constructor & Destructor Documentation

ForcedSphere	(	const OdeHandle &	odeHandle,
		const OsgHandle &	osgHandle,
		const ForcedSphereConf &	ForcedSphereConf,
		const std::string &	name
	)

constructor

use getDefaultConf() to obtain a configuration with default values, which can be altered to personal needs.

~ForcedSphere

(

)

[virtual]

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Member Function Documentation

void create

(

const osg::Matrix &

pose

)

[protected, virtual]

void destroy

(

)

[protected, virtual]

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 ForcedSphereConf getDefaultConf

(

)

[inline, static]

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 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

ForcedSphereConf conf [protected]

bool created [protected]

Primitive* object[1] [protected]

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

• forcedsphere.h
• forcedsphere.cpp