MuscledArm Class Reference
#include <muscledarm.h>
Inherits lpzrobots::OdeRobot.
List of all members.
Public Member Functions |
| MuscledArm (const OdeHandle &odeHandle, const OsgHandle &osgHandle, const MuscledArmConf &conf, const std::string &name) |
virtual | ~MuscledArm () |
virtual void | update () |
| update the subcomponents
|
virtual void | place (const osg::Matrix &pose) |
| sets the pose of the vehicle
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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
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virtual int | getMotorNumber () |
| returns number of motors
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virtual int | getSegmentsPosition (std::vector< Position > &poslist) |
| returns a vector with the positions of all segments of the robot
|
virtual void | doInternalStuff (GlobalData &globalData) |
| this function is called in each timestep.
|
virtual Primitive * | getMainObject () const |
Static Public Member Functions |
static MuscledArmConf | getDefaultConf () |
Public Attributes |
double | force_ [6] |
Protected Member Functions |
virtual Primitive * | getMainPrimitive () const |
| the main object of the robot, which is used for position and speed tracking
|
virtual void | create (const osg::Matrix &pose) |
| creates vehicle at desired pose
|
virtual void | destroy () |
| destroys vehicle and space
|
double | dBodyGetPositionAll (dBodyID basis, int para) |
double | dGeomGetPositionAll (dGeomID basis, int para) |
void | BodyCreate (int n, dMass m, dReal x, dReal y, dReal z, dReal qx, dReal qy, dReal qz, dReal qangle) |
Static Protected Member Functions |
static void | mycallback (void *data, dGeomID o1, dGeomID o2) |
Protected Attributes |
MuscledArmConf | conf |
Primitive * | object [NUMParts] |
Joint * | joint [NUMJoints] |
Position | old_dist [NUMParts] |
paramval | factorMotors |
paramval | factorSensors |
paramval | damping |
paramval | print |
int | segmentsno |
double | gelenkabstand |
double | SOCKEL_LAENGE |
double | SOCKEL_BREITE |
double | SOCKEL_HOEHE |
double | SOCKEL_MASSE |
int | sensorno |
int | motorno |
bool | created |
dSpaceID | parentspace |
int | printed |
double | max_l |
double | max_r |
double | min_l |
double | min_r |
double | base_width |
double | base_length |
double | upperArm_width |
double | upperArm_length |
double | lowerArm_width |
double | lowerArm_length |
double | joint_offset |
double | mainMuscle_width |
double | mainMuscle_length |
double | smallMuscle_width |
double | smallMuscle_length |
Static Protected Attributes |
static const int | armanzahl = 3 |
Constructor & Destructor Documentation
Member Function Documentation
void BodyCreate |
( |
int |
n, |
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dMass |
m, |
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dReal |
x, |
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dReal |
y, |
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dReal |
z, |
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dReal |
qx, |
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dReal |
qy, |
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dReal |
qz, |
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dReal |
qangle | |
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) |
| | [protected] |
void create |
( |
const osg::Matrix & |
pose |
) |
[protected, virtual] |
creates vehicle at desired pose
creates arm at desired position
- Parameters:
-
double dBodyGetPositionAll |
( |
dBodyID |
basis, |
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int |
para | |
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) |
| | [protected] |
void destroy |
( |
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) |
[protected, virtual] |
destroys vehicle and space
double dGeomGetPositionAll |
( |
dGeomID |
basis, |
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int |
para | |
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) |
| | [protected] |
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 OdeRobot.
Primitive * getMainObject |
( |
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) |
const [virtual] |
virtual Primitive* getMainPrimitive |
( |
|
) |
const [inline, protected, virtual] |
the main object of the robot, which is used for position and speed tracking
Reimplemented from OdeRobot.
virtual int getMotorNumber |
( |
|
) |
[inline, virtual] |
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
virtual int getSensorNumber |
( |
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) |
[inline, virtual] |
int getSensors |
( |
sensor * |
sensors, |
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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
Implements AbstractRobot.
void mycallback |
( |
void * |
data, |
|
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dGeomID |
o1, |
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dGeomID |
o2 | |
|
) |
| | [static, protected] |
sets the pose of the vehicle
- Parameters:
-
| pose | desired 4x4 pose matrix |
Implements OdeRobot.
void setMotors |
( |
const motor * |
motors, |
|
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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
draws the arm
Implements OdeRobot.
Member Data Documentation
The documentation for this class was generated from the following files: