Skeleton Class Reference

should look like a humanoid More...

#include <skeleton.h>

Inherits lpzrobots::OdeRobot, and Inspectable.

Collaboration diagram for Skeleton:

Public Types
enum	SkelParts { Hip, Trunk_comp, Belly, Thorax, Neck, Head_comp, Left_Shoulder, Left_Forearm, Left_Hand, Right_Shoulder, Right_Forearm, Right_Hand, Left_Thigh, Left_Shin, Left_Foot, Right_Thigh, Right_Shin, Right_Foot, LastPart }
Public Member Functions
	Skeleton (const OdeHandle &odeHandle, const OsgHandle &osgHandle, SkeletonConf &conf, const std::string &name)
	constructor of Skeleton robot
virtual	~Skeleton ()
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 timestep.
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 Position	getHeadPosition ()
	returns the position of the head
virtual Position	getTrunkPosition ()
	returns the position of the trunk
GripperList &	getGrippers ()
	returns a the gripper list
Static Public Member Functions
static SkeletonConf	getDefaultConf ()
static SkeletonConf	getDefaultConfVelServos ()
Protected Member Functions
virtual void	create (const osg::Matrix &pose)
	creates vehicle at desired pose
virtual void	destroy ()
	destroys vehicle and space
Protected Attributes
SkeletonConf	conf
bool	created
OdeHandle	ignoreColSpace
std::vector< TwoAxisServo * >	hipservos
std::vector< OneAxisServo * >	kneeservos
std::vector< OneAxisServo * >	ankleservos
std::vector< TwoAxisServo * >	armservos
std::vector< OneAxisServo * >	arm1servos
std::vector< TwoAxisServo * >	headservos
OneAxisServo *	pelvisservo
std::vector< OneAxisServo * >	backservos
std::vector< AngularMotor * >	frictionmotors
RaySensorBank	irSensorBank
GripperList	grippers

Detailed Description

should look like a humanoid

Member Enumeration Documentation

enum SkelParts

Enumerator:

Hip
Trunk_comp
Belly
Thorax
Neck
Head_comp
Left_Shoulder
Left_Forearm
Left_Hand
Right_Shoulder
Right_Forearm
Right_Hand
Left_Thigh
Left_Shin
Left_Foot
Right_Thigh
Right_Shin
Right_Foot
LastPart

Constructor & Destructor Documentation

Skeleton	(	const OdeHandle &	odeHandle,
		const OsgHandle &	osgHandle,
		SkeletonConf &	conf,
		const std::string &	name
	)

constructor of Skeleton robot

Parameters:

	odeHandle	data structure for accessing ODE
	osgHandle	ata structure for accessing OSG
	conf	configuration object

virtual ~Skeleton ( ) [inline, virtual]

Member Function Documentation

virtual void create ( const osg::Matrix & pose ) [protected, virtual]

creates vehicle at desired pose

Parameters:

pose

4x4 pose matrix

void destroy ( ) [protected, virtual]

destroys vehicle and space

void doInternalStuff ( GlobalData & global ) [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

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.

static SkeletonConf getDefaultConf ( ) [inline, static]

static SkeletonConf getDefaultConfVelServos ( ) [inline, static]

GripperList & getGrippers ( )

returns a the gripper list

returns the grippers

Position getHeadPosition ( ) [virtual]

returns the position of the head

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

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

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.

Position getTrunkPosition ( ) [virtual]

returns the position of the trunk

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.

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

sets the pose of the vehicle

Parameters:

pose

desired pose matrix

Implements OdeRobot.