lpzrobots Namespace Reference

forward declarations More...

Classes
class	TrackablePrimitive
class	TraceDrawer
class	OdeAgent
	Specialised agent for ode robots. More...
class	AngularMotor
	Abstract angular motor class. More...
class	AngularMotor1Axis
	Angular motor for OneAxisJoints. More...
class	AngularMotor2Axis
	Angular motor for TwoAxisJoints. More...
class	AngularMotor3AxisEuler
	Angular motor for Ball Joints with Euler control. More...
class	AngularMotorNAxis
	Angular motor for arbitrary Joints with custom axis (up to 3). More...
class	DummyMotor
class	Motor
	Abstact base class for attachable motors. More...
class	OneAxisServo
	general servo motor to achieve position control More...
class	OneAxisServoCentered
	general servo motor to achieve position control with zero position centered More...
class	OneAxisServoVel
	general servo motor to achieve position control. More...
class	PID
class	Speaker
	This "motor" emulates a speaker or piezo element to produce sound. More...
class	Spring
class	TwoAxisServo
	general servo motor for 2 axis joints More...
class	TwoAxisServoCentered
	general servo motor for 2 axis joints with zero position centered More...
class	TwoAxisServoVel
	general servo motor to achieve position control for 2 axis joints that internally controls the velocity of the motor (much more stable) with centered zero position. More...
class	AbstractGround
class	AbstractObstacle
	Abstract class (interface) for obstacles. More...
class	Boxpile
	Boxpile. More...
class	ClosedPlayground
class	PolyLine
class	ComplexPlayground
	Playground that uses an xfig file with polylines linetype 0 is normal wall linetype 1 is border thickness is used as well, thickness is multiplied with wallthickness. More...
class	DummyGround
	DummyGround which holds a DummyPrimitive (so getMainPrimitive() works). More...
class	DummyObstacle
	DummyObstacle which holds a DummyPrimitive (so getMainPrimitive() works). More...
class	MeshGround
class	MeshObstacle
class	OctaPlayground
class	PassiveBox
	(Passive) box as obstacle More...
class	PassiveCapsule
	(Passive) capsule as obstacle More...
class	PassiveMesh
	(Passive) mesh as obstacle More...
class	PassiveSphere
	(Passive) sphere as obstacle More...
class	Playground
struct	RandomObstaclesConf
class	RandomObstacles
	Passive random obstacles: with spawn and remove obstacles can be created and removed. More...
class	Seesaw
	Seesaw. More...
class	TerrainGround
	Class provides an terrain based on HeightFields. More...
class	OdeConfig
	The class $name holds the configurable parameters of the simulation environment. More...
class	MoveEarthySkyWithEyePointTransform
class	Base
class	BoundingShape
	class for reading bounding shape description files (.bbox) and to create appropriate geoms More...
class	CameraManipulator
	CameraManipulator is a MatrixManipulator which provides a flying camera updating of the camera position & orientation. More...
class	CameraManipulatorFollow
	CameraManipulatorFollow is a MatrixManipulator which provides Flying simulator-like updating of the camera position & orientation. More...
class	CameraManipulatorRace
	CameraManipulatorRace is a MatrixManipulator which provides Flying simulator-like updating of the camera position & orientation. More...
class	CameraManipulatorTV
	CameraManipulatorTV is a MatrixManipulator which provides Flying simulator-like updating of the camera position & orientation. More...
struct	Indices
struct	Vertex
class	HeightField
	Height field primitive. More...
class	HUDStatisticsManager
	manages all the stuff displaying statistics on the graphics window. More...
class	Joint
class	OneAxisJoint
class	TwoAxisJoint
class	FixedJoint
class	HingeJoint
class	Hinge2Joint
class	UniversalJoint
class	BallJoint
class	SliderJoint
class	LpzHelpHandler
	Event handler for adding on screen help to Viewers. More...
class	LPZViewer
	Viewer holds a single view on to a single scene that supports the rendering of offscreen RRT (render to texture) cameras at any time (without sync). More...
class	MotionBlurOperation
	a class that enables motion blur for the scenegraph should be called in the main simulation loop More...
class	MotionBlurDrawCallback
	a class that enables motion blur for the scenegraph should be called in the main simulation loop More...
class	OSGHeightField
	Graphical HeightField. More...
class	TextureDescr
	holds texture file and repeat information. More...
class	OSGPrimitive
	Interface class for graphic primitives like spheres, boxes, and meshes, which can be drawn by OSG. More...
class	OSGDummy
	A dummy graphical object, which has no representation in the graphical world. More...
class	OSGPlane
	Graphical plane (represented as a large thin box, because OSG does not draw planes). More...
class	OSGBox
	Graphical box. More...
class	OSGBoxTex
	Graphical box with Textures. More...
class	OSGSphere
	Graphical sphere. More...
class	OSGCapsule
	Graphical capsule (a cylinder with round ends). More...
class	OSGCylinder
	Graphical cylinder. More...
class	OSGMesh
	Graphical Mesh or arbitrary OSG model. More...
class	OSGText
	Text to be displayed on the hud. More...
class	Primitive
	Interface class for primitives represented in the physical and graphical world. More...
class	Plane
	Plane primitive. More...
class	Box
	Box primitive. More...
class	Sphere
	Sphere primitive. More...
class	Capsule
	Capsule primitive. More...
class	Cylinder
	Cylinder primitive. More...
class	Ray
	Ray primitive The actual visual representation can have different length than the ray object. More...
class	Mesh
	Mesh primitive. More...
class	Transform
	Primitive for transforming a geom (primitive without body) in respect to a body (primitive with body). More...
class	DummyPrimitive
	Dummy Primitive which returns 0 for geom and body. More...
class	RobotCameraManager
	Manages camera sensors. More...
struct	AnisotropFrictionData
class	Substance
	Physical substance definition, used for collision detection/treatment What we need is mu, slip and kp,kd parameter for the collision Definition of substance parameters: More...
class	DebugSubstance
class	AddSensors2RobotAdapter
	Robot adapter to add sensors and also motors to robots without the need to modify the robot itself. More...
struct	AmosIIConf
class	AmosII
struct	ArmConf
class	Arm
struct	Arm2SegmConf
class	Arm2Segm
class	Barrel2Masses
	A barrel-like robot with 2 internal masses, which can slide on their orthogonal axes. More...
class	Barrel2Masses2nd
	A barrel-like robot with 2 internal masses, which can slide on their orthogonal axes. More...
class	CaterPillar
	This is a class, which models a snake like robot. More...
struct	CaterPillarConf
class	DefaultCaterPillar
	This is a class, which models a snake like robot. More...
struct	DiscusConf
	configuration object for the Discus robot. More...
class	Discus
	A spherical robot with 3 internal masses, which can slide on their orthogonal axes. More...
class	ForcedSphereConf
class	ForcedSphere
class	Formel1
	Robot that looks like a Nimm 2 Bonbon :-) 4 wheels and a capsule like body. More...
struct	FourWheeledConf
class	FourWheeled
	Robot is based on nimm4 with 4 wheels and a capsule like body. More...
struct	HandConf
class	Hand
	Artificial Hand. More...
struct	HexapodConf
struct	Leg
class	Hexapod
class	HurlingSnake
	Hurling snake is a string a beats. More...
struct	MuscledArmConf
class	MuscledArm
struct	Bumper
struct	Nimm2Conf
class	Nimm2
	Robot that looks like a Nimm 2 Bonbon :-) 2 wheels and a cylinder like body. More...
class	Nimm4
	Robot that looks like a Nimm 2 Bonbon :-) 4 wheels and a capsule like body Wheelorder: front left, front right, rear left, rear right. More...
class	OdeRobot
	Abstract class for ODE robots. More...
class	PlattfussSchlange
	This is a class, which models a snake like robot with flat ends and a big body in the middle. More...
class	PrimitiveComponent
	Component consisting of one Primitive. More...
class	ReplayRobot
struct	RobotChainConf
class	RobotChain
	Chain of robots. More...
struct	SchlangeConf
class	Schlange
	This is a class, which models a snake like robot. More...
class	SchlangeForce
	This is a class, which models a snake like robot. More...
class	SchlangeServo
	This is a class, which models a snake like robot. More...
class	SchlangeServo2
	This is a class, which models a snake like robot. More...
class	SchlangeVelocity
	This is a class, which models a snake like robot. More...
class	ShortCircuit
struct	SkeletonConf
class	Skeleton
	should look like a humanoid More...
struct	SliderWheelieConf
class	SliderWheelie
	This is a class, which models an annular robot. More...
struct	SphererobotConf
class	Sphererobot
	This is a class, which models a snake like robot. More...
struct	Sphererobot3MassesConf
	configuration object for the Sphererobot3Masses robot. More...
class	Sphererobot3Masses
	A spherical robot with 3 internal masses, which can slide on their orthogonal axes. More...
class	TruckMesh
	Robot that looks like a Nimm 2 Bonbon :-) 4 wheels and a truck mesh like body. More...
struct	TwoWheeledConf
class	TwoWheeled
	Robot is based on nimm2 with a camera installed. More...
struct	UwoConf
class	Uwo
	UWO: Unknown Walk Object :-), looks like a plate with a lot of legs. More...
struct	VierBeinerConf
class	VierBeiner
	robot that should look like a dog More...
class	AxisOrientationSensor
	Class for sensing the axis orienation of a primitive (robot). More...
struct	CameraConf
class	Camera
	A Robot Camera. More...
class	CameraSensor
	Class to connect a Camera as a sensor to a robot. More...
class	DirectCameraSensor
	This CameraSensor implements a direct conversion from pixels to sensors. More...
struct	PositionCameraSensorConf
class	PositionCameraSensor
	This CameraSensor calculates the position of the visible object(s) that is essentially the center of gravity of the image. More...
struct	MotionCameraSensorConf
class	MotionCameraSensor
	This CameraSensor calculates the global optical flow of the camera image using the center of gravity method. More...
class	ContactSensor
	Class for a contact sensor. More...
struct	ImageProcessor
	Base class for image processing units. More...
struct	StdImageProcessor
	Standard image processor - convenience class for 1 to 1 image processing. More...
struct	BWImageProcessor
	black and white image More...
struct	HSVImgProc
	converts the image to a HSV coded image More...
struct	ColorFilterImgProc
	filters for a specific color (requires HSV, so use HSVImgProc before) More...
struct	LineImgProc
	creates a lightsensitive sensorline. More...
struct	AvgImgProc
	time average of image More...
class	IRSensor
	Class for IR sensors. More...
struct	OpticalFlowConf
	configuration object for OpticalFlow More...
class	OpticalFlow
	This CameraSensor calculates the optical flow at few points of the image based on a box matching technique. More...
class	RaySensor
	Abstract class for Ray-based sensors. More...
class	RaySensorBank
	Class for a bank (collection) of ray sensors. More...
class	RelativePositionSensor
	Class for relative position sensing. More...
class	Sensor
	Abstract class for sensors that can be plugged into a robot. More...
class	SoundSensor
	Sound sensor with possible direction and frequency detection and also distance dependence (Not implemented yet) This works, but is not very well tested and documented. More...
class	SpeedSensor
	Class for speed sensing of robots. More...
class	TorqueSensor
	Class for sensing the torque that are applied the joint by a motor. More...
class	Simulation
class	Axis
class	CameraHandle
	Class which holds all data used by CameraManipulators. More...
class	Color
struct	print_func
class	ColorSchema
	A store for colors with a set of aliases. More...
struct	COMMAND
class	IException
class	GlobalData
	Data structure holding all essential global information. More...
class	VideoStream
struct	GripperConf
	Configure object for Gripper. More...
class	Gripper
	A gripper can be attached to a primitive via its substance and implements gripping (a fixed joint) on collision with specified objects. More...
struct	geomPairHash
class	OdeHandle
	Data structure for accessing the ODE. More...
class	Operator
class	LimitOrientationOperator
	An Operator for limiting the orientation of the main primitive of a robot. More...
struct	LiftUpOperatorConf
class	LiftUpOperator
	An Operator for lifting up a robot from time to time. More...
class	PullToPointOperator
	An Operator for pulling the main primitive of a robot towards a point. More...
class	BoxRingOperator
	An Operator for keeping robots within a sphere / box. More...
struct	OsgConfig
	Data structure containing some configuration variables for OSG. More...
struct	OsgScene
	Data structure containing the scene notes (e.g. More...
class	OsgHandle
	Data structure for accessing the OpenSceneGraph. More...
class	Pos
class	SimulationTask
struct	SimulationTaskHandle
	struct which holds all structural data for the simulations. More...
class	SimulationTaskSupervisor
class	Sound
	Object that represents a sound signal in the simulator. More...
class	TaskedSimulation
class	TaskedSimulationCreator
	Defines a method to construct a TaskedSimulation. More...
class	TmpObject
	this is the base-class for objects that exist temporarily like some indicator of manipulation are a message More...
class	TmpPrimitive
	holding a temporary primitive More...
class	TmpDisplayItem
	holding a temporary graphical item More...
class	TmpJoint
	holding a temporary joint More...
Typedefs
typedef std::list< PlotOption >	PlotOptionList
typedef std::list< Operator * >	OperatorList
typedef std::list< TraceDrawer >	TraceDrawerList
typedef OneAxisServo	SliderServo
typedef OneAxisServo	HingeServo
typedef OneAxisServo	Hinge2Servo
typedef TwoAxisServo	UniversalServo
typedef int(*	CollisionCallback )(dSurfaceParameters &params, GlobalData &globaldata, void userdata, dContact contacts, int numContacts, dGeomID o1, dGeomID o2, const Substance &s1, const Substance &s2)
	function to be called at a collision event between the two geoms.
typedef struct lpzrobots::Bumper	Bumper
typedef std::vector< Primitive * >	Primitives
typedef std::vector < ImageProcessor * >	ImageProcessors
typedef bool(*	commandfunc_t )(GlobalData &globalData, char , char )
typedef std::list< std::string >	ParameterList
typedef std::vector < AbstractObstacle * >	ObstacleList
typedef Configurable::configurableList	ConfigList
typedef BackCallerVector < OdeAgent * >	OdeAgentList
typedef std::list< Sound >	SoundList
typedef std::multimap< double, TmpObject * >	TmpObjectMap
typedef std::list< std::pair < double, TmpObject * > >	TmpObjectList
typedef std::vector< Gripper * >	GripperList
typedef osg::Matrix	Pose
Enumerations
enum	ODEAMOTORAXISREF { GlobalFrame = 0, FirstBody = 1, SecondBody = 2 }
enum	parts { base, shoulder1, shoulder2, upperArm, foreArm, hand, base, upperArm, lowerArm, mainMuscle11, mainMuscle12, mainMuscle21, mainMuscle22, smallMuscle11, smallMuscle12, smallMuscle21, smallMuscle22, smallMuscle31, smallMuscle32, smallMuscle41, smallMuscle42, hand, NUMParts }
enum	Motor_type { With_servo_motor, Without_servo_motor }
enum	IrSensor_Type { irDrawAll, irBack, irSide, irFront }
enum	GripMode { lateral, precision }
enum	parts { base, shoulder1, shoulder2, upperArm, foreArm, hand, base, upperArm, lowerArm, mainMuscle11, mainMuscle12, mainMuscle21, mainMuscle22, smallMuscle11, smallMuscle12, smallMuscle21, smallMuscle22, smallMuscle31, smallMuscle32, smallMuscle41, smallMuscle42, hand, NUMParts }
enum	joints { HJ_BuA, HJ_uAlA, HJ_BmM11, HJ_lAmM12, HJ_BmM21, HJ_lAmM22, HJ_BsM11, HJ_uAsM12, HJ_BsM21, HJ_uAsM22, HJ_lAsM31, HJ_uAsM32, HJ_lAsM41, HJ_uAsM42, SJ_mM1, SJ_mM2, SJ_sM1, SJ_sM2, SJ_sM3, SJ_sM4, FJ_lAH, NUMJoints }
Functions
void	printCornerPointsXY (Box box, FILE f)
ref_ptr< Material >	getMaterial (const Color &c, Material::ColorMode mode=Material::DIFFUSE)
osg::Geode *	createRectangle (const OsgHandle &, const osg::Vec3 &v1, const osg::Vec3 &v2, const osg::Vec3 &v3, double repeatOnR, double repeatOnS)
void	addTexture (Geode *geode, const TextureDescr &tex)
Geode *	test ()
Pose	osgPose (dGeomID geom)
	returns the osg (4x4) pose matrix of the ode geom
Pose	osgPose (dBodyID body)
	returns the osg (4x4) pose matrix of the ode body
Pose	osgPose (const double position, const double rotation)
	converts a position vector and a rotation matrix from ode to osg 4x4 matrix
void	odeRotation (const Pose &pose, dMatrix3 &odematrix)
	converts the rotation component of pose into an ode rotation matrix
int	dummyCallBack (dSurfaceParameters &params, GlobalData &globaldata, void userdata, dContact contacts, int numContacts, dGeomID o1, dGeomID o2, const Substance &s1, const Substance &s2)
static int	anisocallback (dSurfaceParameters &params, GlobalData &globaldata, void userdata, dContact contacts, int numContacts, dGeomID o1, dGeomID o2, const Substance &s1, const Substance &s2)
int	contactCollCallback (dSurfaceParameters &params, GlobalData &globaldata, void userdata, dContact contacts, int numContacts, dGeomID o1, dGeomID o2, const Substance &s1, const Substance &s2)
int	irCollCallback (dSurfaceParameters &params, GlobalData &globaldata, void userdata, dContact contacts, int numContacts, dGeomID o1, dGeomID o2, const Substance &s1, const Substance &s2)
static void *	odeStep_run (void *p)
	redirection function, because we can't call member function direct
static void *	osgStep_run (void *p)
	redirection function, because we can't call member function direct
static void	printODEMessage (int num, const char *msg, va_list ap)
void	createNewDir (const char base, char newdir)
	creates a new directory with the stem base, which is not yet there (using subsequent numbers) and returns its name in newdir
bool	com_list (GlobalData &globalData, char , char )
bool	com_show (GlobalData &globalData, char , char )
bool	com_store (GlobalData &globalData, char , char )
bool	com_load (GlobalData &globalData, char , char )
bool	com_storecfg (GlobalData &globalData, char , char )
bool	com_loadcfg (GlobalData &globalData, char , char )
bool	com_contrs (GlobalData &globalData, char , char )
bool	com_set (GlobalData &globalData, char , char )
bool	com_help (GlobalData &globalData, char , char )
bool	com_quit (GlobalData &globalData, char , char )
char *	stripwhite (char *string)
COMMAND *	find_command (char *name)
bool	execute_line (GlobalData &globalData, char *line)
int	valid_argument (const char caller, const char arg)
void	printConfigs (const ConfigList &configs)
void	printConfig (const Configurable *config)
char *	dupstr (const char *s)
char *	dupstrpluseq (const char *s)
vector< string >	splitstring (string s)
bool	handleConsole (GlobalData &globalData)
	offers a console interface the possibility to change parameter of all configurable objects in globalData storeing and restoreing of controllers .
char *	command_generator (const char *, int)
char *	params_generator (const char *, int)
char **	console_completion (const char *, int, int)
void	initializeConsole ()
	should be called at the start
void	closeConsole ()
	should be called at the end (to store history)
int	getListLen (char **strings)
	EXCEPTION_TEMPLATE (IndexOutOfBoundsException)
	EXCEPTION_TEMPLATE (InvalidArgumentException)
	EXCEPTION_TEMPLATE (DimensionMismatchException)
osg::Matrix	osgRotate (const double &alpha, const double &beta, const double &gamma)
	returns a rotation matrix (osg) with the given angles alpha, beta and gamma
Matrix	osgMatrix2Matrixlib (const osg::Matrix &m)
	converts osg matrix to matrix of matrixlib
osg::Matrix	rotationMatrixFromAxisX (const Axis &axis)
	returns a Rotation matrix that rotates the x-axis along with the given axis.
osg::Matrix	rotationMatrixFromAxisZ (const Axis &axis)
	returns a Rotation matrix that rotates the z-axis along with the given axis.
double	getAngle (const osg::Vec3 &a, const osg::Vec3 &b)
	returns the angle between two vectors (in rad)
matrix::Matrix	odeRto3x3RotationMatrixT (const double R[12])
	converts an ode rotation matrix into a 3x3 rotation matrix (matrixlib)
matrix::Matrix	odeRto3x3RotationMatrix (const double R[12])
	converts an ode rotation matrix into a 3x3 rotation matrix (matrixlib)
Position	multMatrixPosition (const matrix::Matrix &r, Position &p)
	Multiplies 3x3 matrix with position.
Matrix	getRotationMatrix (const double &angle)
	returns a rotation matrix with the given angle
Matrix	getTranslationMatrix (const Position &p)
	returns a translation matrix with the given Position
Matrix	removeTranslationInMatrix (const matrix::Matrix &pose)
	removes the translation in the matrix
Matrix	removeRotationInMatrix (const matrix::Matrix &pose)
	removes the rotation in the matrix
double	getAngle (Position a, Position b)
	returns the angle between two vectors
template<typename T >
T	normalize360 (T v)
Variables
char	fragmentShaderSource_noBaseTexture []
char	fragmentShaderSource_withBaseTexture []
int	globalNumVelocityViolations = 0
	counts number of max velocity violations at joints (Attention, this is a global variable, initialized to 0 at start)
int	t = 1
int	c = 1
static FILE *	ODEMessageFile = 0
COMMAND	commands []
ParameterList	parameters

Detailed Description

forward declarations

read the installation PREFIX (to find data directory)

Namespace for the 3D robot simulator ode_robots

Typedef Documentation

typedef struct lpzrobots::Bumper Bumper

typedef int(* CollisionCallback)(dSurfaceParameters &params, GlobalData &globaldata, void *userdata, dContact *contacts, int numContacts, dGeomID o1, dGeomID o2, const Substance &s1, const Substance &s2)

function to be called at a collision event between the two geoms.

Parameters:

	params	surface parameter, which should be changed/calculated by this function
	globaldata	global information
	userdata	pointer to user data for this callback (stored in substance)
	contacts	array of contact information
	numContacts	length of contact information array
	o1	geom corresponding to substance of this callback
	o2	other geom
	s1	substance of this callback
	s2	other substance

Returns:: 0 if collision should not be treated; 1 if collision should be treated otherwise (by other callback or standard methods); 2 if collision to be treated and parameters for collision are set in params

typedef bool(* commandfunc_t)(GlobalData &globalData, char *, char *)

typedef Configurable::configurableList ConfigList

typedef std::vector<Gripper*> GripperList

typedef OneAxisServo Hinge2Servo

typedef OneAxisServo HingeServo

typedef std::vector<ImageProcessor* > ImageProcessors

typedef std::vector<AbstractObstacle*> ObstacleList

typedef BackCallerVector<OdeAgent*> OdeAgentList

typedef std::list<Operator*> OperatorList

typedef std::list<std::string> ParameterList

typedef std::list< PlotOption > PlotOptionList

typedef osg::Matrix Pose

typedef std::vector<Primitive*> Primitives

typedef OneAxisServo SliderServo

Examples:: sphererobot3masses.cpp.

typedef std::list<Sound> SoundList

typedef std::list< std::pair<double, TmpObject*> > TmpObjectList

typedef std::multimap<double, TmpObject* > TmpObjectMap

typedef std::list<TraceDrawer> TraceDrawerList

typedef TwoAxisServo UniversalServo

Enumeration Type Documentation

enum GripMode

Enumerator:

lateral
precision

enum IrSensor_Type

Enumerator:

irDrawAll
irBack
irSide
irFront

enum joints

Enumerator:

HJ_BuA
HJ_uAlA
HJ_BmM11
HJ_lAmM12
HJ_BmM21
HJ_lAmM22
HJ_BsM11
HJ_uAsM12
HJ_BsM21
HJ_uAsM22
HJ_lAsM31
HJ_uAsM32
HJ_lAsM41
HJ_uAsM42
SJ_mM1
SJ_mM2
SJ_sM1
SJ_sM2
SJ_sM3
SJ_sM4
FJ_lAH
NUMJoints

enum Motor_type

Enumerator:

With_servo_motor
Without_servo_motor

enum ODEAMOTORAXISREF

Enumerator:

GlobalFrame
FirstBody
SecondBody

enum parts

Enumerator:

base
shoulder1
shoulder2
upperArm
foreArm
hand
base
upperArm
lowerArm
mainMuscle11
mainMuscle12
mainMuscle21
mainMuscle22
smallMuscle11
smallMuscle12
smallMuscle21
smallMuscle22
smallMuscle31
smallMuscle32
smallMuscle41
smallMuscle42
hand
NUMParts

enum parts

Enumerator:

base
shoulder1
shoulder2
upperArm
foreArm
hand
base
upperArm
lowerArm
mainMuscle11
mainMuscle12
mainMuscle21
mainMuscle22
smallMuscle11
smallMuscle12
smallMuscle21
smallMuscle22
smallMuscle31
smallMuscle32
smallMuscle41
smallMuscle42
hand
NUMParts

Function Documentation

void addTexture	(	Geode *	geode,
		const TextureDescr &	tex
	)

static int lpzrobots::anisocallback	(	dSurfaceParameters &	params,
		GlobalData &	globaldata,
		void *	userdata,
		dContact *	contacts,
		int	numContacts,
		dGeomID	o1,
		dGeomID	o2,
		const Substance &	s1,
		const Substance &	s2
	)			`[static]`

void closeConsole ( )

should be called at the end (to store history)

bool com_contrs	(	GlobalData &	globalData,
		char *	line,
		char *	arg
	)

bool com_help	(	GlobalData &	globalData,
		char *	line,
		char *	arg
	)

bool com_list	(	GlobalData &	globalData,
		char *	line,
		char *	arg
	)

bool com_load	(	GlobalData &	globalData,
		char *	line,
		char *	arg
	)

bool com_loadcfg	(	GlobalData &	globalData,
		char *	line,
		char *	arg
	)

bool com_quit	(	GlobalData &	globalData,
		char *	,
		char *
	)

bool com_set	(	GlobalData &	globalData,
		char *	line,
		char *	arg
	)

bool com_show	(	GlobalData &	globalData,
		char *	line,
		char *	arg
	)

bool com_store	(	GlobalData &	globalData,
		char *	line,
		char *	arg
	)

bool com_storecfg	(	GlobalData &	globalData,
		char *	line,
		char *	arg
	)

char * command_generator	(	const char *	text,
		int	state
	)

char ** console_completion	(	const char *	text,
		int	start,
		int	end
	)

int lpzrobots::contactCollCallback	(	dSurfaceParameters &	params,
		GlobalData &	globaldata,
		void *	userdata,
		dContact *	contacts,
		int	numContacts,
		dGeomID	o1,
		dGeomID	o2,
		const Substance &	s1,
		const Substance &	s2
	)

void createNewDir	(	const char *	base,
		char *	newdir
	)

creates a new directory with the stem base, which is not yet there (using subsequent numbers) and returns its name in newdir

osg::Geode * createRectangle	(	const OsgHandle &	osgHandle,
		const osg::Vec3 &	v1,
		const osg::Vec3 &	v2,
		const osg::Vec3 &	v3,
		double	repeatOnR,
		double	repeatOnS
	)

int lpzrobots::dummyCallBack	(	dSurfaceParameters &	params,
		GlobalData &	globaldata,
		void *	userdata,
		dContact *	contacts,
		int	numContacts,
		dGeomID	o1,
		dGeomID	o2,
		const Substance &	s1,
		const Substance &	s2
	)

char* lpzrobots::dupstr ( const char * s )

char* lpzrobots::dupstrpluseq ( const char * s )

lpzrobots::EXCEPTION_TEMPLATE ( DimensionMismatchException )

lpzrobots::EXCEPTION_TEMPLATE ( InvalidArgumentException )

lpzrobots::EXCEPTION_TEMPLATE ( IndexOutOfBoundsException )

bool execute_line	(	GlobalData &	globalData,
		char *	line
	)

COMMAND * find_command ( char * name )

double getAngle	(	Position	a,
		Position	b
	)

returns the angle between two vectors

double getAngle	(	const osg::Vec3 &	a,
		const osg::Vec3 &	b
	)

returns the angle between two vectors (in rad)

int lpzrobots::getListLen ( char ** strings )

ref_ptr< Material > getMaterial	(	const Color &	c,
		Material::ColorMode	mode = `Material::DIFFUSE`
	)

matrix::Matrix getRotationMatrix ( const double & angle )

returns a rotation matrix with the given angle

matrix::Matrix getTranslationMatrix ( const Position & p )

returns a translation matrix with the given Position

bool handleConsole ( GlobalData & globalData )

offers a console interface the possibility to change parameter of all configurable objects in globalData storeing and restoreing of controllers .

.. also informs agents about changes

Returns:: false if program should exit

void initializeConsole ( )

should be called at the start

int lpzrobots::irCollCallback	(	dSurfaceParameters &	params,
		GlobalData &	globaldata,
		void *	userdata,
		dContact *	contacts,
		int	numContacts,
		dGeomID	o1,
		dGeomID	o2,
		const Substance &	s1,
		const Substance &	s2
	)

Position multMatrixPosition	(	const Matrix &	r,
		Position &	p
	)

Multiplies 3x3 matrix with position.

T lpzrobots::normalize360 ( T v ) [inline]

void odeRotation	(	const Pose &	pose,
		dMatrix3 &	odematrix
	)

converts the rotation component of pose into an ode rotation matrix

matrix::Matrix odeRto3x3RotationMatrix ( const double R[12] )

converts an ode rotation matrix into a 3x3 rotation matrix (matrixlib)

matrix::Matrix odeRto3x3RotationMatrixT ( const double R[12] )

converts an ode rotation matrix into a 3x3 rotation matrix (matrixlib)

static void * odeStep_run ( void * p ) [static]

redirection function, because we can't call member function direct

matrix::Matrix osgMatrix2Matrixlib ( const osg::Matrix & m )

converts osg matrix to matrix of matrixlib

Pose osgPose	(	const double *	V,
		const double *	R
	)

converts a position vector and a rotation matrix from ode to osg 4x4 matrix

Pose osgPose ( dBodyID body )

returns the osg (4x4) pose matrix of the ode body

Pose osgPose ( dGeomID geom )

returns the osg (4x4) pose matrix of the ode geom

osg::Matrix osgRotate	(	const double &	alpha,
		const double &	beta,
		const double &	gamma
	)

returns a rotation matrix (osg) with the given angles alpha, beta and gamma

static void * osgStep_run ( void * p ) [static]

redirection function, because we can't call member function direct

char * params_generator	(	const char *	text,
		int	state
	)

void lpzrobots::printConfig ( const Configurable * config )

void printConfigs ( const ConfigList & configs )

void lpzrobots::printCornerPointsXY	(	Box *	box,
		FILE *	f
	)

static void printODEMessage	(	int	num,
		const char *	msg,
		va_list	ap
	)			`[static]`

matrix::Matrix removeRotationInMatrix ( const Matrix & pose )

removes the rotation in the matrix

matrix::Matrix removeTranslationInMatrix ( const Matrix & pose )

removes the translation in the matrix

osg::Matrix rotationMatrixFromAxisX ( const Axis & axis )

returns a Rotation matrix that rotates the x-axis along with the given axis.

The other 2 axis (y,z) are ambiguous.

osg::Matrix rotationMatrixFromAxisZ ( const Axis & axis )

returns a Rotation matrix that rotates the z-axis along with the given axis.

The other 2 axis (x,y) are ambiguous.

vector<string> lpzrobots::splitstring ( string s )

char * stripwhite ( char * string )

Geode* lpzrobots::test ( )

int valid_argument	(	const char *	caller,
		const char *	arg
	)

Variable Documentation

int c = 1

Examples:: sphererobot3masses.cpp.

COMMAND commands[]

Initial value:

 {
  { "param=val",  com_set, "sets PARAM of all objects to VAL" },
  { "help", com_help, "Display this text" },
  { "?",     com_help, "Synonym for `help'" },
  { "list", com_list, "Lists all configurables and agents" },
  { "ls",   com_list, "Synonym for `list'" },
  { "set",  com_set, "syntax: set [OBJECTID] PARAM=VAL; sets parameter of OBJECTID (or of all objects) to value" },
  { "store", com_store, "stores object. Syntax: store AGENTID FILE, see list" },
  { "load", com_load, "loads object. Syntax: load AGENTID FILE, see list" },
  { "storecfg", com_storecfg, "Store key-values pairs. Syntax: storecfg CONFIGID FILE" },
  { "loadcfg", com_loadcfg, "Load key-values pairs. Syntax: CONFIGID FILE" },
  { "contrs", com_contrs, "Stores the contours of all playgrounds to FILE" },
  { "show", com_show, "[OBJECTID]: Lists parameters of OBJECTID or of all objects (if no id given)" },
  { "view", com_show, "Synonym for `show'" },
  { "quit", com_quit, "Quit program" },
  { (char *)NULL, (commandfunc_t)NULL, (char *)NULL }
}

char fragmentShaderSource_noBaseTexture[]

Initial value:

  "uniform sampler2DShadow shadowTexture; \n"
  "uniform vec2 ambientBias; \n"
  "\n"
  "void main(void) \n"
  "{ \n"
  "    ambientBias.x=0.8f; \n"
  "    ambientBias.y=0.4f; \n"
  "    gl_FragColor = gl_Color * (ambientBias.x + shadow2DProj( shadowTexture, gl_TexCoord[0] ) * ambientBias.y - 0.4f); \n"
  "}\n"

char fragmentShaderSource_withBaseTexture[]

Initial value:

  "uniform sampler2D baseTexture; \n"
  "uniform sampler2DShadow shadowTexture; \n"
  "uniform vec2 ambientBias; \n"
  "\n"
  "void main(void) \n"
  "{ \n"
  "    vec4 color = gl_Color* texture2D( baseTexture, gl_TexCoord[0].xy ); \n"
  "    gl_FragColor = color * (ambientBias.x + shadow2DProj( shadowTexture, gl_TexCoord[1])  * ambientBias.y); \n"
  "}\n"

int globalNumVelocityViolations = 0

counts number of max velocity violations at joints (Attention, this is a global variable, initialized to 0 at start)

FILE* ODEMessageFile = 0 [static]

ParameterList parameters

int t = 1

lpzrobots Namespace Reference

Classes

Typedefs

Enumerations

Functions

Variables

Detailed Description

Typedef Documentation

Enumeration Type Documentation

Function Documentation

Variable Documentation