Schlange Class Reference

This is a class, which models a snake like robot. More...

#include <schlange.h>

Inherited by SchlangeForce, SchlangeServo, SchlangeServo2, and SchlangeVelocity.

Collaboration diagram for Schlange:

Public Member Functions
	Schlange (const OdeHandle &odeHandle, const OsgHandle &osgHandle, const SchlangeConf &conf, const std::string &name, const std::string &revision)
virtual	~Schlange ()
virtual void	place (const osg::Matrix &pose)
	sets the pose of the vehicle
virtual void	update ()
	update all primitives and joints
virtual void	doInternalStuff (GlobalData &global)
	this function is called in each simulation timestep (always after control).
virtual void	setMotors (const motor *motors, int motornumber)=0
	Reads the actual motor commands from an array, an sets all motors of the snake to this values.
virtual int	getSensors (sensor *sensors, int sensornumber)=0
	Writes the sensor values to an array in the memory.
virtual int	getSensorNumber ()=0
	returns number of sensors
virtual int	getMotorNumber ()=0
	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().
virtual Primitive *	getMainPrimitive () const
	the main object of the robot, which is used for position and speed tracking
virtual std::vector< Primitive * >	getAllPrimitives () const
	returns a list of all primitives of the robot (used to store and restore the robot)
virtual void	setTexture (const std::string &filename)
	sets a texture to the body of the snake note: the head texture of the snake is set by this method too!
virtual void	setHeadTexture (const std::string &filename)
	sets a texture to the head of the snake
virtual void	setHeadColor (const Color &color)
	sets the color of the head element
Static Public Member Functions
static SchlangeConf	getDefaultConf ()
Protected Member Functions
virtual void	create (const osg::Matrix &pose)
	creates vehicle at desired pose
virtual Primitive *	createSegment (int index, const OdeHandle &odeHandle)
	creates and initialised the segment with the given index
virtual void	destroy ()
	destroys vehicle and space
Protected Attributes
bool	created
std::vector< AngularMotor * >	frictionmotors
SchlangeConf	conf
std::vector< OdeHandle >	spaces

Detailed Description

This is a class, which models a snake like robot.

It consists of a number of equal elements, each linked by a joint

Constructor & Destructor Documentation

Schlange	(	const OdeHandle &	odeHandle,
		const OsgHandle &	osgHandle,
		const SchlangeConf &	conf,
		const std::string &	name,
		const std::string &	revision
	)

~Schlange ( ) [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

Primitive * createSegment	(	int	index,
		const OdeHandle &	odeHandle
	)			`[protected, virtual]`

creates and initialised the segment with the given index

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.

virtual std::vector<Primitive*> getAllPrimitives ( ) const [inline, virtual]

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

Reimplemented from OdeRobot.

static SchlangeConf getDefaultConf ( ) [inline, static]

Reimplemented in SchlangeVelocity.

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

the main object of the robot, which is used for position and speed tracking

Reimplemented from OdeRobot.

virtual int getMotorNumber ( ) [pure virtual]

returns number of motors

Implements AbstractRobot.

Implemented in SchlangeForce, SchlangeServo, SchlangeServo2, and SchlangeVelocity.

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 ( ) [pure virtual]

returns number of sensors

Implements AbstractRobot.

Implemented in SchlangeForce, SchlangeServo, SchlangeServo2, and SchlangeVelocity.

virtual int getSensors	(	sensor *	sensors,
		int	sensornumber
	)			`[pure virtual]`

Writes the sensor values to an array in the memory.

Parameters:

	sensors	pointer to the array
	sensornumber	length of the sensor array

Returns:: number of actually written sensors

Implements AbstractRobot.

Implemented in SchlangeForce, SchlangeServo, SchlangeServo2, and SchlangeVelocity.

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.

Reimplemented in SchlangeServo, and SchlangeServo2.

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

sets the pose of the vehicle

Parameters:

pose

desired 4x4 pose matrix

Implements OdeRobot.

void setHeadColor ( const Color & color ) [virtual]

sets the color of the head element

void setHeadTexture ( const std::string & filename ) [virtual]

sets a texture to the head of the snake

virtual void setMotors	(	const motor *	motors,
		int	motornumber
	)			`[pure virtual]`

Reads the actual motor commands from an array, an sets all motors of the snake to this values.

It is an linear allocation.

Parameters:

	motors	pointer to the array, motor values are scaled to [-1,1]
	motornumber	length of the motor array

Implements AbstractRobot.

Implemented in SchlangeForce, SchlangeServo, SchlangeServo2, and SchlangeVelocity.

void setTexture ( const std::string & filename ) [virtual]

sets a texture to the body of the snake note: the head texture of the snake is set by this method too!

void update ( ) [virtual]

update all primitives and joints

Implements OdeRobot.

Member Data Documentation

SchlangeConf conf [protected]

bool created [protected]

std::vector<AngularMotor*> frictionmotors [protected]

std::vector<OdeHandle> spaces [protected]

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

Schlange Class Reference

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation