OdeRobot Class Reference

Abstract class for ODE robots. More...

#include <oderobot.h>

Inherited by AddSensors2RobotAdapter, AmosII, Arm, Arm2Segm, DefaultCaterPillar, Discus, ForcedSphere, Formel1, Hand, Hexapod, HurlingSnake, MuscledArm, Nimm2, Nimm4, ReplayRobot, RobotChain, Schlange, ShortCircuit, Skeleton, SliderWheelie, Sphererobot, Sphererobot3Masses, TruckMesh, Uwo, and VierBeiner.

Collaboration diagram for OdeRobot:

[legend]

List of all members.

Public Member Functions
	OdeRobot (const OdeHandle &odeHandle, const OsgHandle &osgHandle, const std::string &name, const std::string &revision)
	Constructor.
virtual	~OdeRobot ()
	calls cleanup()
virtual void	update ()=0
	update the OSG notes here
virtual void	place (const Pos &pos)
	sets the vehicle to position pos
virtual void	place (const osg::Matrix &pose)=0
	sets the pose of the vehicle
virtual bool	collisionCallback (void *data, dGeomID o1, dGeomID o2)
virtual void	sense (GlobalData &globalData)
	this function is called each controlstep before control.
virtual void	doInternalStuff (GlobalData &globalData)
	this function is called in each simulation timestep (always after control).
virtual void	setColor (const Color &col)
	sets color of the robot
virtual Position	getPosition () const
	returns position of the object
virtual Position	getSpeed () const
	returns linear speed vector of the object
virtual Position	getAngularSpeed () const
	returns angular velocity vector of the object
virtual matrix::Matrix	getOrientation () const
	returns the orientation of the object
virtual Primitive *	getMainPrimitive () const
	return the primitive of the robot that is used for tracking and camera following
virtual Primitives	getAllPrimitives () const
	returns a list of all primitives of the robot (used to store and restore the robot)
virtual Primitives &	getAllPrimitives ()
virtual bool	store (FILE *f) const
	returns a list of all primitives of the robot (const version) (used to store and restore the robot)
virtual bool	restore (FILE *f)
	loads the object from the given file stream (binary).
virtual void	moveToPosition (Pos pos=Pos(0, 0, 0.5))
	relocates robot to new postion (keep current pose) such that lowest body part is at the given position (the center of it, so the bounding box is not checked)
Protected Member Functions
virtual void	cleanup ()
	deletes all objects (primitives) and joints (is called automatically in destructor)
Static Protected Member Functions
static bool	isGeomInPrimitiveList (Primitive **ps, int len, dGeomID geom)
static bool	isGeomInPrimitiveList (std::list< Primitive * > ps, dGeomID geom)
Protected Attributes
Primitives	objects
	list of objects (should be populated by subclasses)
std::vector< Joint * >	joints
	list of joints (should be populated by subclasses)
OdeHandle	odeHandle
OsgHandle	osgHandle
dSpaceID	parentspace
Friends
class	OdeAgent

Detailed Description

Abstract class for ODE robots.

Examples:: template_sphererobot/main.cpp.

Constructor & Destructor Documentation

OdeRobot	(	const OdeHandle &	odeHandle,
		const OsgHandle &	osgHandle,
		const std::string &	name,
		const std::string &	revision
	)

Constructor.

Parameters:

odehandle

structure with all global ODE variables

~OdeRobot ( ) [virtual]

calls cleanup()

Member Function Documentation

void cleanup ( ) [protected, virtual]

deletes all objects (primitives) and joints (is called automatically in destructor)

Examples:: nimm4.cpp.

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

Deprecated:: This function will be removed in 0.8 Do not use it anymore, collision control is done automatically. In case of a routine 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 in AddSensors2RobotAdapter, and Hexapod.

virtual void doInternalStuff ( GlobalData & globalData ) [inline, virtual]

this function is called in each simulation timestep (always after control).

It should perform robot-internal checks and actions like resetting certain sensors or implement velocity dependend friction and the like. The attached Motors should act here.

Parameters:

globalData

structure that contains global data from the simulation environment

Reimplemented in AddSensors2RobotAdapter, AmosII, Arm, Arm2Segm, Discus, ForcedSphere, Formel1, FourWheeled, Hand, Hexapod, HurlingSnake, MuscledArm, Nimm2, Nimm4, ReplayRobot, RobotChain, Schlange, ShortCircuit, Skeleton, SliderWheelie, Sphererobot, Sphererobot3Masses, TruckMesh, Uwo, and VierBeiner.

virtual Primitives& getAllPrimitives ( ) [inline, virtual]

Reimplemented in AddSensors2RobotAdapter.

virtual Primitives getAllPrimitives ( ) const [inline, virtual]

returns a list of all primitives of the robot (used to store and restore the robot)

Reimplemented in AddSensors2RobotAdapter, Schlange, and SliderWheelie.

Position getAngularSpeed ( ) const [virtual]

returns angular velocity vector of the object

Returns:: vector (wx,wy,wz)

Implements Trackable.

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

return the primitive of the robot that is used for tracking and camera following

Reimplemented in AddSensors2RobotAdapter, AmosII, Arm, Arm2Segm, DefaultCaterPillar, Discus, ForcedSphere, Formel1, Hand, Hexapod, HurlingSnake, MuscledArm, ReplayRobot, RobotChain, Schlange, ShortCircuit, Skeleton, SliderWheelie, Sphererobot, Uwo, and VierBeiner.

Examples:: sphererobot3masses.cpp, and template_sphererobot/main.cpp.

matrix::Matrix getOrientation ( ) const [virtual]

returns the orientation of the object

Returns:: 3x3 rotation matrix

Implements Trackable.

Position getPosition ( ) const [virtual]

returns position of the object

Returns:: vector of position (x,y,z)

Implements Trackable.

Position getSpeed ( ) const [virtual]

returns linear speed vector of the object

Returns:: vector (vx,vy,vz)

Implements Trackable.

bool isGeomInPrimitiveList	(	std::list< Primitive * >	ps,
		dGeomID	geom
	)			`[static, protected]`

bool isGeomInPrimitiveList	(	Primitive **	ps,
		int	len,
		dGeomID	geom
	)			`[static, protected]`

void moveToPosition ( Pos pos = Pos(0,0,0.5) ) [virtual]

relocates robot to new postion (keep current pose) such that lowest body part is at the given position (the center of it, so the bounding box is not checked)

virtual void place ( const osg::Matrix & pose ) [pure virtual]

sets the pose of the vehicle

Parameters:

pose

desired 4x4 pose matrix

Implemented in AddSensors2RobotAdapter, AmosII, Arm, Arm2Segm, DefaultCaterPillar, Discus, ForcedSphere, Formel1, Hand, Hexapod, HurlingSnake, MuscledArm, Nimm2, Nimm4, ReplayRobot, RobotChain, Schlange, ShortCircuit, Skeleton, SliderWheelie, Sphererobot, Sphererobot3Masses, TruckMesh, Uwo, and VierBeiner.