SchlangeVelocity Class Reference
This is a class, which models a snake like robot. More...
#include <schlangevelocity.h>
Inherits lpzrobots::Schlange.
Collaboration diagram for SchlangeVelocity:
Public Member Functions | |
| SchlangeVelocity (const OdeHandle &odeHandle, const OsgHandle &osgHandle, const SchlangeConf &conf, const std::string &name) | |
| virtual | ~SchlangeVelocity () |
| virtual void | setMotors (const motor *motors, int motornumber) |
| 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) |
| Writes the sensor values to an array in the memory. | |
| virtual int | getSensorNumber () |
| returns number of sensors | |
| virtual int | getMotorNumber () |
| returns number of motors | |
Static Public Member Functions | |
| static SchlangeConf | getDefaultConf () |
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 powered by directly setting the angular velocities of the joints
Constructor & Destructor Documentation
| SchlangeVelocity | ( | const OdeHandle & | odeHandle, | |
| const OsgHandle & | osgHandle, | |||
| const SchlangeConf & | conf, | |||
| const std::string & | name | |||
| ) |
| ~SchlangeVelocity | ( | ) | [virtual] |
Member Function Documentation
| static SchlangeConf getDefaultConf | ( | ) | [inline, static] |
Reimplemented from Schlange.
| virtual int getMotorNumber | ( | ) | [inline, virtual] |
returns number of motors
Implements Schlange.
| virtual int getSensorNumber | ( | ) | [inline, virtual] |
returns number of sensors
Implements Schlange.
| int getSensors | ( | sensor * | sensors, | |
| int | sensornumber | |||
| ) | [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
- Parameters:
-
sensors pointer to the arrays sensornumber length of the sensor array
- Returns:
- number of actually written sensors
Implements Schlange.
| void setMotors | ( | const motor * | motors, | |
| int | motornumber | |||
| ) | [virtual] |
Reads the actual motor commands from an array, an sets all motors of the snake to this values.
Reads the actual motor commands from an array, and sets all motors (forces) 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 Schlange.
The documentation for this class was generated from the following files:
