HurlingSnake Class Reference
Hurling snake is a string a beats. More...
#include <hurlingsnake.h>
Inherits lpzrobots::OdeRobot.
Public Member Functions | |
| HurlingSnake (const OdeHandle &odeHandle, const OsgHandle &osgHandle, const std::string &name) | |
| Constructor. | |
| ~HurlingSnake () | |
| virtual void | update () |
| update the subcomponents | |
| virtual void | place (const osg::Matrix &pose) |
| sets the pose of the vehicle | |
| virtual void | doInternalStuff (GlobalData &globalData) |
| this function is called in each timestep. | |
| 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 void | notifyOnChange (const paramkey &key) |
| Is called when a parameter was changes via setParam(). | |
Protected Member Functions | |
| virtual Primitive * | getMainPrimitive () const |
| the main object of the robot, which is used for position and speed tracking | |
Detailed Description
Hurling snake is a string a beats.
Constructor & Destructor Documentation
| HurlingSnake | ( | const OdeHandle & | odeHandle, | |
| const OsgHandle & | osgHandle, | |||
| const std::string & | name | |||
| ) |
Constructor.
- Parameters:
-
w world in which robot should be created s space in which robot should be created c contactgroup for collision treatment
| ~HurlingSnake | ( | ) |
Member Function Documentation
| void doInternalStuff | ( | GlobalData & | globalData | ) | [virtual] |
this function is called in each timestep.
It should perform robot-internal checks, like sensor resets/update etc.
- Parameters:
-
globalData structure that contains global data from the simulation environment
Reimplemented from OdeRobot.
| virtual Primitive* getMainPrimitive | ( | ) | const [inline, protected, virtual] |
the main object of the robot, which is used for position and speed tracking
Reimplemented from OdeRobot.
| int getMotorNumber | ( | ) | [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
- Parameters:
-
vector of positions (of all robot segments)
- Returns:
- length of the list
| 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 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.
| void place | ( | const osg::Matrix & | pose | ) | [virtual] |
| 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.
The documentation for this class was generated from the following files:
