Hexapod Class Reference

#include <hexapod.h>

Inherits lpzrobots::OdeRobot, and Inspectable.

Collaboration diagram for Hexapod:

Public Member Functions
	Hexapod (const OdeHandle &odeHandle, const OsgHandle &osgHandle, const HexapodConf &conf, const std::string &name)
	constructor of VierBeiner robot
virtual	~Hexapod ()
virtual void	update ()
	updates the OSG nodes of the vehicle
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 bool	collisionCallback (void *data, dGeomID o1, dGeomID o2)
	checks for internal collisions and treats them.
virtual void	doInternalStuff (GlobalData &globalData)
	this function is called in each timestep.
double	round (double, int)
	calculates the total energy consumption of all servos.
virtual double	energyConsumption ()
virtual double	energyConsumpThroughtHeatLoss (const dReal *torques)
virtual double	outwardMechanicalPower (const dReal torques, const dReal angularV)
virtual double	costOfTransport (double E, double W, double V, double T)
virtual double	getMassOfRobot ()
virtual double *	getPosition ()
virtual void	notifyOnChange (const paramkey &key)
	Is called when a parameter was changes via setParam().
virtual void	resetMotorPower (double power)
virtual double	getPower ()
virtual Primitive *	getMainPrimitive () const
	the main object of the robot, which is used for position and speed tracking
Static Public Member Functions
static HexapodConf	getDefaultConf ()
Public Attributes
HexapodConf	conf
double	legmass
int	countt
bool	created
RaySensorBank	irSensorBank
double	costOfTran
double *	energyOneStep
	energy consumption for one time step
double	E_t
	energy consumption over a period t;
bool	recordGait
double *	heights
double *	angles
Protected Member Functions
virtual void	create (const osg::Matrix &pose)
	creates vehicle at desired pose
virtual void	destroy ()
	destroys vehicle and space
Protected Attributes
Primitive *	trunk
Primitive *	irbox
Primitive *	stabaliserTransform
Primitive *	bigboxtransform
Primitive *	headtrans
std::vector< Primitive * >	legs
std::vector< Primitive * >	thorax
std::vector< Pos >	thoraxPos
std::vector< TwoAxisServo * >	hipservos
std::vector< OneAxisServo * >	tebiasprings
std::vector< OneAxisServo * >	tarsussprings
std::vector< OneAxisServo * >	whiskersprings

Constructor & Destructor Documentation

Hexapod	(	const OdeHandle &	odeHandle,
		const OsgHandle &	osgHandle,
		const HexapodConf &	conf,
		const std::string &	name
	)

constructor of VierBeiner robot

Parameters:

	odeHandle	data structure for accessing ODE
	osgHandle	ata structure for accessing OSG
	conf	configuration object

virtual ~Hexapod ( ) [inline, virtual]

Member Function Documentation

bool collisionCallback	(	void *	data,
		dGeomID	o1,
		dGeomID	o2
	)			`[virtual]`

checks for internal collisions and treats them.

In case of a treatment return true (collision will be ignored by other objects and the default routine) else false (collision is passed to other objects and (if not treated) to the default routine).

Reimplemented from OdeRobot.

double costOfTransport	(	double	E,
		double	W,
		double	V,
		double	T
	)			`[virtual]`

void create ( const osg::Matrix & pose ) [protected, virtual]

creates vehicle at desired pose

creates vehicle at desired position

Parameters:

	pose	4x4 pose matrix
	pos	struct Position with desired position

void destroy ( ) [protected, virtual]

destroys vehicle and space

void doInternalStuff ( GlobalData & global ) [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

It should perform robot-internal checks, like space-internal collision detection, sensor resets/update etc.

Parameters:

global

structure that contains global data from the simulation environment

Reimplemented from OdeRobot.

double energyConsumpThroughtHeatLoss ( const dReal * torques ) [virtual]

double energyConsumption ( ) [virtual]

static HexapodConf getDefaultConf ( ) [inline, static]

< angle range for vertical direction of legs

virtual Primitive* getMainPrimitive ( ) const [inline, virtual]

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

Reimplemented from OdeRobot.

double getMassOfRobot ( ) [virtual]

int getMotorNumber ( ) [virtual]

returns number of motors

Implements AbstractRobot.

virtual double* getPosition ( ) [inline, virtual]

double getPower ( ) [virtual]

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]
	sensornumbHexapod::getDefaultConf()er	length of the sensor array

Returns:: number of actually written sensors

Implements AbstractRobot.

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.