VierBeiner Class Reference

robot that should look like a dog More...

#include <vierbeiner.h>

Collaboration diagram for VierBeiner:

Public Member Functions
	VierBeiner (const OdeHandle &odeHandle, const OsgHandle &osgHandle, const VierBeinerConf &conf, const std::string &name)
	constructor of VierBeiner robot
virtual	~VierBeiner ()
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
Static Public Member Functions
static VierBeinerConf	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
VierBeinerConf	conf
double	legmass
bool	created
Primitive *	trunk
Primitive *	headtrans
Primitive *	bigboxtransform
Primitive *	neck
Primitive *	tail
Primitive *	eye_r_trans
Primitive *	eye_l_trans
Primitive *	ear_l_trans
Primitive *	ear_r_trans
Primitive *	mouth_trans
std::vector< OneAxisServo * >	hipservos
std::vector< OneAxisServo * >	kneeservos
std::vector< OneAxisServo * >	ankleservos
std::vector< OneAxisServo * >	headtailservos
std::list< Primitive * >	legparts

Detailed Description

robot that should look like a dog

sensors/motors: 0: neck, 1: tail 2,3,4,5 : hip: rh, lh, rf, lf 6,7,8,9 : knee: rh, lh, rf, lf 10,11 : ankle rh, lh

Constructor & Destructor Documentation

VierBeiner	(	const OdeHandle &	odeHandle,
		const OsgHandle &	osgHandle,
		const VierBeinerConf &	conf,
		const std::string &	name
	)

constructor of VierBeiner robot

Parameters:

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

virtual ~VierBeiner ( ) [inline, virtual]

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

ignore collision between box on top of dog and head and also between head and body

ignore collision between box on top of dog and tail

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:

global

structure that contains global data from the simulation environment

Reimplemented from OdeRobot.

static VierBeinerConf getDefaultConf ( ) [inline, static]

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.

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.