TwoWheeled Class Reference

Robot is based on nimm2 with a camera installed. More...

#include <twowheeled.h>

Inherits lpzrobots::Nimm2.

Collaboration diagram for TwoWheeled:

[legend]

List of all members.

Public Member Functions
	TwoWheeled (const OdeHandle &odeHandle, const OsgHandle &osgHandle, TwoWheeledConf conf, const std::string &name)
	constructor of twowheeled robot
virtual	~TwoWheeled ()
virtual void	update ()
	updates the OSG nodes of the vehicle
virtual int	getSensorNumber ()
	returns number of sensors
virtual int	getSensors (sensor *sensors, int sensornumber)
	returns actual sensorvalues
virtual void	sense (GlobalData &globalData)
	this function is called each controlstep before control.
Static Public Member Functions
static TwoWheeledConf	getDefaultConf ()
Protected Member Functions
virtual void	create (const osg::Matrix &pose)
	creates vehicle at desired pose
virtual void	destroy ()
	destroys vehicle and space
Protected Attributes
TwoWheeledConf	conf
	Inspectable interface.
CameraSensor *	camsensor
Camera *	cam

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Detailed Description

Robot is based on nimm2 with a camera installed.

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Constructor & Destructor Documentation

TwoWheeled	(	const OdeHandle &	odeHandle,
		const OsgHandle &	osgHandle,
		TwoWheeledConf	conf,
		const std::string &	name
	)

constructor of twowheeled robot

Parameters:

	odeHandle	data structure for accessing ODE
	osgHandle	ata structure for accessing OSG
	conf	configuration structure
	name	name of the robot

~TwoWheeled

(

)

[virtual]

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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
	pos	struct Position with desired position

Reimplemented from Nimm2.

void destroy

(

)

[protected, virtual]

destroys vehicle and space

Reimplemented from Nimm2.

static TwoWheeledConf getDefaultConf

(

)

[inline, static]

Reimplemented from Nimm2.

int getSensorNumber

(

)

[virtual]

returns number of sensors

Reimplemented from Nimm2.

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

Parameters:

	sensors	sensors scaled to [-1,1] (more or less)
	sensornumber	length of the sensor array

Returns:

number of actually written sensors

Reimplemented from Nimm2.

void sense

(

GlobalData &

globalData

)

[virtual]

this function is called each controlstep before control.

This is the place the perform active sensing (e.g. Image processing)

Parameters:

globalData

structure that contains global data from the simulation environment

Reimplemented from OdeRobot.

void update

(

)

[virtual]

updates the OSG nodes of the vehicle

updates the osg notes and sensorbank

Reimplemented from Nimm2.

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Member Data Documentation

Camera* cam [protected]

CameraSensor* camsensor [protected]

TwoWheeledConf conf [protected]

Inspectable interface.

Reimplemented from Nimm2.

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

• twowheeled.h
• twowheeled.cpp