Robot Simulator of the Robotics Group for Self-Organization of Control
0.8.0
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Public Member Functions | |
MyRobot () | |
~MyRobot () | |
virtual int | getSensors (sensor *sensors, int sensornumber) |
returns actual sensorvalues More... | |
virtual void | setMotors (const motor *motors, int motornumber) |
sets actual motorcommands More... | |
virtual int | getSensorNumber () |
returns number of sensors More... | |
virtual int | getMotorNumber () |
returns number of motors More... | |
virtual Position | getPosition () const |
returns position of the object More... | |
virtual Position | getSpeed () const |
returns linear speed vector of the object More... | |
virtual Position | getAngularSpeed () const |
returns linear speed vector of the object More... | |
virtual matrix::Matrix | getOrientation () const |
returns the orientation of the object More... | |
virtual paramval | getParam (const paramkey &key, bool traverseChildren) const |
returns the value of the requested parameter or 0 (+ error message to stderr) if unknown. More... | |
virtual bool | setParam (const paramkey &key, paramval val, bool traverseChildren) |
sets the value of the given parameter or does nothing if unknown. More... | |
virtual paramlist | getParamList () const |
The list of all parameters with there value as allocated lists. More... | |
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AbstractRobot (const std::string &name="abstractRobot", const std::string &revision="$ID$") | |
Constructor. More... | |
virtual | ~AbstractRobot () |
virtual std::string | getTrackableName () const |
returns name of trackable More... | |
virtual std::list < SensorMotorInfo > | getSensorInfos () |
returns the information for the sensors. More... | |
virtual std::list < SensorMotorInfo > | getMotorInfos () |
returns the information for the motors. More... | |
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Trackable () | |
Constructor. More... | |
virtual | ~Trackable () |
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Configurable () | |
Configurable (const std::string &name, const std::string &revision) | |
intialise with name and revision (use "$ID$") More... | |
virtual | ~Configurable () |
virtual void | notifyOnChange (const paramkey &key) |
Is called when a parameter was changes via setParam(). More... | |
virtual void | addParameter (const paramkey &key, paramval *val, paramval minBound, paramval maxBound, const paramdescr &descr=paramdescr()) |
This is the new style for adding configurable parameters. More... | |
virtual void | addParameter (const paramkey &key, paramval *val, const paramdescr &descr=paramdescr()) |
See addParameter(const paramkey& key, paramval* val, paramval minBound, paramval maxBound, const paramdescr& descr) More... | |
virtual void | addParameter (const paramkey &key, parambool *val, const paramdescr &descr=paramdescr()) |
See addParameter(const paramkey& key, paramval* val) but for bool values. More... | |
virtual void | addParameter (const paramkey &key, paramint *val, paramint minBound, paramint maxBound, const paramdescr &descr=paramdescr()) |
See addParameter(const paramkey& key, paramval* val) but for int values. More... | |
virtual void | addParameter (const paramkey &key, paramint *val, const paramdescr &descr=paramdescr()) |
virtual void | addParameterDef (const paramkey &key, paramval *val, paramval def, paramval minBound, paramval maxBound, const paramdescr &descr=paramdescr()) |
This function is only provided for convenience. More... | |
virtual void | addParameterDef (const paramkey &key, paramval *val, paramval def, const paramdescr &descr=paramdescr()) |
virtual void | addParameterDef (const paramkey &key, parambool *val, parambool def, const paramdescr &descr=paramdescr()) |
See addParameterDef(const paramkey&, paramval*, paramval) More... | |
virtual void | addParameterDef (const paramkey &key, paramint *val, paramint def, paramint minBound, paramint maxBound, const paramdescr &descr=paramdescr()) |
See addParameterDef(const paramkey&, paramval*, paramval) More... | |
virtual void | addParameterDef (const paramkey &key, paramint *val, paramint def, const paramdescr &descr=paramdescr()) |
virtual void | setParamDescr (const paramkey &key, const paramdescr &descr, bool traverseChildren=true) |
sets a description for the given parameter More... | |
int | getId () const |
return the id of the configurable objects, which is created by random on initialisation More... | |
virtual paramkey | getName () const |
return the name of the object More... | |
virtual paramkey | getRevision () const |
returns the revision of the object More... | |
virtual void | setName (const paramkey &name, bool callSetNameOfInspectable=true) |
Sets the name of the configurable. More... | |
virtual void | setRevision (const paramkey &revision) |
sets the revision Hint: { return "$ID$"; } More... | |
virtual bool | hasParam (const paramkey &key, bool traverseChildren=true) const |
Returns if the requested parameter is part of the configurable or their children. More... | |
virtual void | setParamBounds (const paramkey &key, paramval minBound, paramval maxBound, bool traverseChildren=true) |
Sets the bounds (minBound and maxBound) of the given parameter. More... | |
virtual void | setParamBounds (const paramkey &key, paramint minBound, paramint maxBound, bool traverseChildren=true) |
virtual void | setParamBounds (const paramkey &key, paramvalBounds bounds, bool traverseChildren=true) |
virtual void | setParamBounds (const paramkey &key, paramintBounds bounds, bool traverseChildren=true) |
virtual std::list< paramkey > | getAllParamNames (bool traverseChildren=true) |
returns all names that are configureable More... | |
virtual parammap | getParamValMap () const |
virtual paramintmap | getParamIntMap () const |
virtual paramboolmap | getParamBoolMap () const |
virtual paramdescr | getParamDescr (const paramkey &key, bool traverseChildren=true) const |
returns the description for the given parameter More... | |
virtual paramvalBounds | getParamvalBounds (const paramkey &key, bool traverseChildren=true) const |
virtual paramintBounds | getParamintBounds (const paramkey &key, bool traverseChildren=true) const |
virtual bool | hasParamDescr (const paramkey &key, bool traverseChildren=true) const |
virtual bool | hasParamvalBounds (const paramkey &key, bool traverseChildren=true) const |
virtual bool | hasParamintBounds (const paramkey &key, bool traverseChildren=true) const |
virtual bool | storeCfg (const char *filenamestem, const std::list< std::string > &comments=std::list< std::string >()) |
stores the key values paires into the file : filenamestem.cfg including the comments given in the list More... | |
virtual bool | restoreCfg (const char *filenamestem) |
restores the key values paires from the file : filenamestem.cfg More... | |
void | print (FILE *f, const char *prefix, int columns=90, bool traverseChildren=true) const |
prints the keys, values and descriptions to the file. Each line is prefixed More... | |
bool | parse (FILE *f, const char *prefix=0, bool traverseChildren=true) |
parses the configuration from the given file More... | |
virtual void | addConfigurable (Configurable *conf) |
Adds a configurable as a child object. More... | |
virtual void | removeConfigurable (Configurable *conf) |
Removes a configurable as a child object. More... | |
virtual const configurableList & | getConfigurables () const |
Returns the list containing all configurable children. More... | |
virtual void | configurableChanged () |
Indicates that the configurable itself or the configurable children attached to this configurable have changed. More... | |
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BackCaller () | |
virtual | ~BackCaller () |
virtual void | addCallbackable (Callbackable *callbackableInstance, CallbackableType type=BackCaller::DEFAULT_CALLBACKABLE_TYPE) |
Adds a Callbackable instance to this caller instance. More... | |
virtual void | removeCallbackable (Callbackable *callbackableInstance, CallbackableType type=BackCaller::DEFAULT_CALLBACKABLE_TYPE) |
Removes a Callbackable instance from this caller instance. More... | |
virtual void | removeAllCallbackables (CallbackableType type) |
Removes all Callbackable instances from this caller instance. More... | |
virtual void | callBack (CallbackableType type=BackCaller::DEFAULT_CALLBACKABLE_TYPE) |
Calls all registered callbackable classes of the determined type. More... | |
virtual void | callBackQMP (CallbackableType type=BackCaller::DEFAULT_CALLBACKABLE_TYPE) |
Calls all registered callbackable classes of the determined type. More... | |
Additional Inherited Members | |
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typedef double | sensor |
typedef double | motor |
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typedef std::string | paramkey |
typedef std::string | paramdescr |
typedef double | paramval |
typedef std::list< std::pair < paramkey, paramval > > | paramlist |
typedef std::map< paramkey, paramval * > | parammap |
typedef bool | parambool |
typedef std::list< std::pair < paramkey, parambool > > | paramboollist |
typedef std::map< paramkey, parambool * > | paramboolmap |
typedef int | paramint |
typedef std::list< std::pair < paramkey, paramint > > | paramintlist |
typedef std::map< paramkey, paramint * > | paramintmap |
typedef std::map< paramkey, paramdescr > | paramdescrmap |
typedef std::pair< paramval, paramval > | paramvalBounds |
typedef std::map< paramkey, paramvalBounds > | paramvalBoundsMap |
typedef std::pair< paramint, paramint > | paramintBounds |
typedef std::map< paramkey, paramintBounds > | paramintBoundsMap |
typedef std::pair< paramkey, paramval * > | paramvalpair |
typedef std::pair< paramkey, parambool * > | paramboolpair |
typedef std::pair< paramkey, paramint * > | paramintpair |
typedef std::vector < Configurable * > | configurableList |
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typedef unsigned long | CallbackableType |
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static const CallbackableType | CALLBACK_CONFIGURABLE_CHANGED = 11 |
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static const CallbackableType | DEFAULT_CALLBACKABLE_TYPE = 0 |
This is the default Callbackable type. More... | |
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void | copyParameters (const Configurable &, bool traverseChildren=true) |
copies the internal params of the given configurable More... | |
void | printdescr (FILE *f, const char *prefix, const paramkey &key, int columns, int indent) const |
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inline |
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inline |
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inlinevirtual |
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inlinevirtual |
returns number of motors
Implements AbstractRobot.
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inlinevirtual |
returns the value of the requested parameter or 0 (+ error message to stderr) if unknown.
Reimplemented from Configurable.
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inlinevirtual |
The list of all parameters with there value as allocated lists.
Note that these are only parameters that are managed manually (with setParam, getParam)
Reimplemented from Configurable.
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inlinevirtual |
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inlinevirtual |
returns number of sensors
Implements AbstractRobot.
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inlinevirtual |
returns actual sensorvalues
sensors | sensors scaled to [-1,1] |
sensornumber | length of the sensor array |
Implements AbstractRobot.
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inlinevirtual |
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inlinevirtual |
sets actual motorcommands
motors | motors scaled to [-1,1] |
motornumber | length of the motor array |
Implements AbstractRobot.
sets the value of the given parameter or does nothing if unknown.
Reimplemented from Configurable.