Nimm2 Class Reference

Robot that looks like a Nimm 2 Bonbon :-) 2 wheels and a cylinder like body. More...

#include <nimm2.h>

Inherits lpzrobots::OdeRobot.

Inherited by TwoWheeled.

Collaboration diagram for Nimm2:

[legend]

List of all members.

Public Member Functions
	Nimm2 (const OdeHandle &odehandle, const OsgHandle &osgHandle, const Nimm2Conf &conf, const std::string &name)
virtual	~Nimm2 ()
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 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 double &	getSumForce ()
virtual double &	getContactPoints ()
Static Public Member Functions
static Nimm2Conf	getDefaultConf ()
Protected Member Functions
virtual void	create (const osg::Matrix &pose)
	creates vehicle at desired pose
virtual void	destroy ()
	destroys vehicle and space
Static Protected Member Functions
static void	mycallback (void *data, dGeomID o1, dGeomID o2)
Protected Attributes
double	contactPoints
Nimm2Conf	conf
	Inspectable interface.
double	length
double	width
double	height
double	radius
double	wheelthickness
double	cmass
double	wmass
int	sensorno
int	motorno
bool	created
double	max_force
double	wheeloffset
int	number_bumpers
Bumper	bumper [2]
RaySensorBank	irSensorBank
bool	visForce
double	sumForce

---

Detailed Description

Robot that looks like a Nimm 2 Bonbon :-) 2 wheels and a cylinder like body.

wheel order: left, right IR order: front left, front right, right, right rear, rear right, rear left, left rear, left

---

Constructor & Destructor Documentation

Nimm2	(	const OdeHandle &	odehandle,
		const OsgHandle &	osgHandle,
		const Nimm2Conf &	conf,
		const std::string &	name
	)

~Nimm2

(

)

[virtual]

---

Member Function Documentation

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

Reimplemented in TwoWheeled.

void destroy

(

)

[protected, virtual]

destroys vehicle and space

Reimplemented in TwoWheeled.

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.

virtual double& getContactPoints

(

)

[inline, virtual]

static Nimm2Conf getDefaultConf

(

)

[inline, static]

Reimplemented in TwoWheeled.

virtual int getMotorNumber

(

)

[inline, 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

virtual int getSensorNumber

(

)

[inline, virtual]

returns number of sensors

Implements AbstractRobot.

Reimplemented in TwoWheeled.

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

Implements AbstractRobot.

Reimplemented in TwoWheeled.

virtual double& getSumForce

(

)

[inline, virtual]

static void mycallback	(	void *	data,
		dGeomID	o1,
		dGeomID	o2
	)			[static, protected]

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]

updates the OSG nodes of the vehicle

updates the osg notes and sensorbank

Implements OdeRobot.

Reimplemented in TwoWheeled.

---

Member Data Documentation

Bumper bumper[2] [protected]

double cmass [protected]

Nimm2Conf conf [protected]

Inspectable interface.

Reimplemented in TwoWheeled.

double contactPoints [protected]

bool created [protected]

double height [protected]

RaySensorBank irSensorBank [protected]

double length [protected]

double max_force [protected]

int motorno [protected]

int number_bumpers [protected]

double radius [protected]

int sensorno [protected]

double sumForce [protected]

bool visForce [protected]

double wheeloffset [protected]

double wheelthickness [protected]

double width [protected]

double wmass [protected]

---

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

• nimm2.h
• nimm2.cpp