Sphererobot3Masses Class Reference

A spherical robot with 3 internal masses, which can slide on their orthogonal axes. More...

#include <sphererobot3masses.h>

Inherited by Barrel2Masses, and Barrel2Masses2nd.

Collaboration diagram for Sphererobot3Masses:

Public Types
enum	parts { Base, Pendular1, Pendular2, Pendular3, Last }
	enum for the objects of the robot More...
Public Member Functions
	Sphererobot3Masses (const OdeHandle &odeHandle, const OsgHandle &osgHandle, const Sphererobot3MassesConf &conf, const std::string &name, double transparency=0.5)
	constructor
virtual	~Sphererobot3Masses ()
virtual void	update ()
	update the OSG notes here
virtual void	place (const osg::Matrix &pose)
	sets the pose of the vehicle
virtual void	doInternalStuff (GlobalData &globalData)
	this function is called in each simulation timestep (always after control).
virtual int	getSensors (sensor *sensors, int sensornumber)
	Writes the sensor values to an array in the memory.
virtual void	setMotors (const motor *motors, int motornumber)
	sets actual motorcommands
virtual int	getMotorNumber ()
	returns number of motors
virtual int	getSensorNumber ()
	returns number of sensors
virtual void	notifyOnChange (const paramkey &key)
	Is called when a parameter was changes via setParam().
Static Public Member Functions
static Sphererobot3MassesConf	getDefaultConf ()
	default configuration
Protected Member Functions
	Sphererobot3Masses (const OdeHandle &odeHandle, const OsgHandle &osgHandle, const Sphererobot3MassesConf &conf, const std::string &name, const std::string &revision, double transparency)
	constructor for children
void	init ()
	initialises some internal variables
virtual void	create (const osg::Matrix &pose)
	creates vehicle at desired position and orientation
virtual void	destroy ()
	destroys vehicle and space
Protected Attributes
unsigned int	numberaxis
SliderServo *	servo [servono]
OSGPrimitive *	axis [servono]
Sphererobot3MassesConf	conf
RaySensorBank	irSensorBank
	a collection of ir sensors
double	transparency
bool	created
Static Protected Attributes
static const int	servono = 3

Detailed Description

A spherical robot with 3 internal masses, which can slide on their orthogonal axes.

This robot was inspired by Julius Popp (http://sphericalrobots.com)

Examples:: template_sphererobot/main.cpp.

Member Enumeration Documentation

enum parts

enum for the objects of the robot

Enumerator:

Base
Pendular1
Pendular2
Pendular3
Last

Constructor & Destructor Documentation

Sphererobot3Masses	(	const OdeHandle &	odeHandle,
		const OsgHandle &	osgHandle,
		const Sphererobot3MassesConf &	conf,
		const std::string &	name,
		double	transparency = `0.5`
	)

constructor

Examples:: sphererobot3masses.cpp.

Sphererobot3Masses	(	const OdeHandle &	odeHandle,
		const OsgHandle &	osgHandle,
		const Sphererobot3MassesConf &	conf,
		const std::string &	name,
		const std::string &	revision,
		double	transparency
	)			`[protected]`

constructor for children

constructor

~Sphererobot3Masses ( ) [virtual]

Examples:: sphererobot3masses.cpp.

Member Function Documentation

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

creates vehicle at desired position and orientation

Reimplemented in Barrel2Masses, and Barrel2Masses2nd.

Examples:: sphererobot3masses.cpp.

void destroy ( ) [protected, virtual]

destroys vehicle and space

Examples:: sphererobot3masses.cpp.

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.

Examples:: sphererobot3masses.cpp.

static Sphererobot3MassesConf getDefaultConf ( ) [inline, static]

default configuration

Reimplemented in Barrel2Masses, and Barrel2Masses2nd.

int getMotorNumber ( ) [virtual]

returns number of motors

Implements AbstractRobot.

Examples:: sphererobot3masses.cpp.

int getSensorNumber ( ) [virtual]

returns number of sensors

Implements AbstractRobot.

Examples:: sphererobot3masses.cpp.

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

Writes the sensor values to an array in the memory.

Parameters:

	sensor*	pointer to the array
	sensornumber	length of the sensor array

Returns:: number of actually written sensors

Implements AbstractRobot.

Reimplemented in Barrel2Masses, and Barrel2Masses2nd.

Examples:: sphererobot3masses.cpp.

void init ( ) [protected]

initialises some internal variables

Examples:: sphererobot3masses.cpp.

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.