RobotChain Class Reference

Chain of robots. More...

#include <robotchain.h>

Inherits lpzrobots::OdeRobot.

Collaboration diagram for RobotChain:

[legend]

List of all members.

Public Member Functions
	RobotChain (const OdeHandle &odeHandle, const OsgHandle &osgHandle, const RobotChainConf &conf, const std::string &name)
	constructor of uwo robot
virtual	~RobotChain ()
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 void	doInternalStuff (GlobalData &globalData)
	this function is called in each simulation timestep (always after control).
virtual void	notifyOnChange (const paramkey &key)
	Is called when a parameter was changes via setParam().
virtual int	getIRSensorNum ()
Static Public Member Functions
static RobotChainConf	getDefaultConf ()
Protected Member Functions
virtual Primitive *	getMainPrimitive () const
	return the primitive of the robot that is used for tracking and camera following
virtual void	create (const osg::Matrix &pose)
virtual void	destroy ()
	destroys vehicle and space
Protected Attributes
RobotChainConf	conf
bool	created
std::vector< OdeRobot * >	robots

---

Detailed Description

Chain of robots.

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Constructor & Destructor Documentation

RobotChain	(	const OdeHandle &	odeHandle,
		const OsgHandle &	osgHandle,
		const RobotChainConf &	conf,
		const std::string &	name
	)

constructor of uwo robot

Parameters:

	odeHandle	data structure for accessing ODE
	osgHandle	ata structure for accessing OSG
	size	scaling of robot
	force	maximal used force to realize motorcommand
	radialLegs	switches between cartensian and radial leg joints

virtual ~RobotChain

(

)

[inline, virtual]

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Member Function Documentation

void create

(

const osg::Matrix &

pose

)

[protected, virtual]

void destroy

(

)

[protected, virtual]

destroys vehicle and space

void doInternalStuff

(

GlobalData &

globalData

)

[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 from OdeRobot.

static RobotChainConf getDefaultConf

(

)

[inline, static]

int getIRSensorNum

(

)

[virtual]

Primitive * getMainPrimitive

(

)

const [protected, virtual]

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

Reimplemented from OdeRobot.

int getMotorNumber

(

)

[virtual]

returns number of motors

Implements AbstractRobot.

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]

sets the pose of the vehicle

Parameters:

pose

desired 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

Implements OdeRobot.

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Member Data Documentation

RobotChainConf conf [protected]

bool created [protected]

std::vector<OdeRobot*> robots [protected]

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

• robotchain.h
• robotchain.cpp