Uwo Class Reference

UWO: Unknown Walk Object :-), looks like a plate with a lot of legs. More...

#include <uwo.h>

Inherits lpzrobots::OdeRobot.

Collaboration diagram for Uwo:

[legend]

List of all members.

Public Member Functions
	Uwo (const OdeHandle &odeHandle, const OsgHandle &osgHandle, const UwoConf &conf, const std::string &name)
	constructor of uwo robot
virtual	~Uwo ()
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().
Static Public Member Functions
static UwoConf	getDefaultConf ()
Protected Member Functions
virtual Primitive *	getMainPrimitive () const
	the main object of the robot, which is used for position and speed tracking
virtual void	create (const osg::Matrix &pose)
	creates vehicle at desired pose
virtual void	destroy ()
	destroys vehicle and space
Protected Attributes
UwoConf	conf
double	legmass
bool	created
std::vector< UniversalServo * >	servos

---

Detailed Description

UWO: Unknown Walk Object :-), looks like a plate with a lot of legs.

---

Constructor & Destructor Documentation

Uwo	(	const OdeHandle &	odeHandle,
		const OsgHandle &	osgHandle,
		const UwoConf &	conf,
		const std::string &	name
	)

constructor of uwo robot

Parameters:

	odeHandle	data structure for accessing ODE
	osgHandle	ata structure for accessing OSG
	size	scaling of robot
	force	maximal used force to realize motorcommand
	radialLegs	switches between cartensian and radial leg joints

virtual ~Uwo

(

)

[inline, virtual]

---

Member Function Documentation

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 &

globalData

)

[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

Reimplemented from OdeRobot.

static UwoConf getDefaultConf

(

)

[inline, static]

virtual Primitive* getMainPrimitive

(

)

const [inline, protected, virtual]

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

Reimplemented from OdeRobot.

virtual int getMotorNumber

(

)

[inline, virtual]

returns number of motors

Implements AbstractRobot.

virtual int getSensorNumber

(

)

[inline, 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

Parameters:

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

Returns:

number of actually written sensors

Implements AbstractRobot.

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.

void place

(

const osg::Matrix &

pose

)

[virtual]

sets the pose of the vehicle

Parameters:

pose

desired pose matrix

Implements OdeRobot.

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

sets actual motorcommands

Parameters:

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

Implements AbstractRobot.

void update

(

)

[virtual]

updates the OSG nodes of the vehicle

Implements OdeRobot.

---

Member Data Documentation

UwoConf conf [protected]

bool created [protected]

double legmass [protected]

std::vector<UniversalServo*> servos [protected]

---

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

• uwo.h
• uwo.cpp