FourWheeled Class Reference
Robot is based on nimm4 with 4 wheels and a capsule like body. More...
#include <fourwheeled.h>
Inherits lpzrobots::Nimm4.
Collaboration diagram for FourWheeled:
Public Member Functions | |
| FourWheeled (const OdeHandle &odeHandle, const OsgHandle &osgHandle, FourWheeledConf conf, const std::string &name) | |
| constructor of nimm4 robot | |
| virtual | ~FourWheeled () |
| virtual void | update () |
| updates the OSG nodes of the vehicle | |
| virtual int | getSensorNumber () |
| returns number of sensors | |
| virtual int | getMotorNumber () |
| returns number of motors | |
| virtual int | getSensors (sensor *sensors, int sensornumber) |
| returns actual sensorvalues | |
| virtual void | setMotors (const motor *motors, int motornumber) |
| sets actual motorcommands | |
| virtual void | doInternalStuff (GlobalData &globalData) |
| this function is called in each timestep. | |
| virtual Joint * | getJoint (int i) |
Static Public Member Functions | |
| static FourWheeledConf | 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 | |
| FourWheeledConf | conf |
| RaySensorBank | irSensorBank |
| Primitive * | bumpertrans |
| Primitive * | bumper |
Detailed Description
Robot is based on nimm4 with 4 wheels and a capsule like body.
Constructor & Destructor Documentation
| FourWheeled | ( | const OdeHandle & | odeHandle, | |
| const OsgHandle & | osgHandle, | |||
| FourWheeledConf | conf, | |||
| const std::string & | name | |||
| ) |
constructor of nimm4 robot
- Parameters:
-
odeHandle data structure for accessing ODE osgHandle ata structure for accessing OSG conf configuration structure name name of the robot
| ~FourWheeled | ( | ) | [virtual] |
Member Function Documentation
| void create | ( | const osg::Matrix & | pose | ) | [protected, virtual] |
| void destroy | ( | ) | [protected, virtual] |
destroys vehicle and space
Reimplemented from Nimm4.
| 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 Nimm4.
| static FourWheeledConf getDefaultConf | ( | ) | [inline, static] |
| Joint * getJoint | ( | int | i | ) | [virtual] |
| int getMotorNumber | ( | ) | [virtual] |
returns number of motors
Reimplemented from Nimm4.
| int getSensorNumber | ( | ) | [virtual] |
returns number of sensors
Reimplemented from Nimm4.
| 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
Reimplemented from Nimm4.
| void setMotors | ( | const motor * | motors, | |
| int | motornumber | |||
| ) | [virtual] |
sets actual motorcommands
- Parameters:
-
motors motors scaled to [-1,1] motornumber length of the motor array
Reimplemented from Nimm4.
| void update | ( | ) | [virtual] |
updates the OSG nodes of the vehicle
Reimplemented from Nimm4.
Member Data Documentation
Primitive* bumpertrans [protected] |
FourWheeledConf conf [protected] |
RaySensorBank irSensorBank [protected] |
The documentation for this class was generated from the following files:
