A spherical robot with 3 internal masses, which can slide on their orthogonal axes. More...

#include <discus.h>

Inheritance diagram for Discus:

Collaboration diagram for Discus:

Public Types
enum	objects { Base, Stabilizer, Pendular1, Pendular2, Pendular3, Last }
	enum for the objects of the robot More...

Public Types inherited from AbstractRobot
typedef double	sensor

typedef double	motor

Public Types inherited from Configurable
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

Public Types inherited from BackCaller
typedef unsigned long	CallbackableType

Public Member Functions
	Discus (const OdeHandle &odeHandle, const OsgHandle &osgHandle, const DiscusConf &conf, const std::string &name, double transparency=0.5)
	constructor More...

virtual	~Discus ()

virtual void	update ()
	update the OSG notes here, if overwritten, call OdeRobot::update()! More...

virtual void	placeIntern (const osg::Matrix &pose)
	wrapper to for More...

virtual void	doInternalStuff (GlobalData &globalData)
	this function is called in each simulation timestep (always after control). More...

virtual void	sense (GlobalData &globalData) override
	this function is called each controlstep before control. More...

virtual int	getSensorsIntern (sensor *sensors, int sensornumber)
	Writes the sensor values to an array in the memory. More...

virtual void	setMotorsIntern (const double *motors, int motornumber)
	overload this function in a subclass to do specific sensor handling, not needed for generic motors More...

virtual int	getMotorNumberIntern ()
	overload this function in a subclass to specific the number of custom sensors More...

virtual int	getSensorNumberIntern ()
	overload this function in a subclass to specific the number of custom sensors More...

virtual Primitive *	getMainPrimitive () const
	return the primitive of the robot that is used for tracking and camera following More...

Public Member Functions inherited from OdeRobot
	OdeRobot (const OdeHandle &odeHandle, const OsgHandle &osgHandle, const std::string &name, const std::string &revision)
	Constructor. More...

virtual	~OdeRobot ()
	calls cleanup() More...

virtual int	getSensors (double *sensors, int sensornumber) final
	returns actual sensorvalues More...

virtual void	setMotors (const double *motors, int motornumber) final
	sets actual motorcommands More...

virtual int	getSensorNumber () final
	returns number of sensors More...

virtual int	getMotorNumber () final
	returns number of motors More...

virtual std::list < SensorMotorInfo >	getSensorInfos () override
	returns the information for the sensors. More...

virtual std::list < SensorMotorInfo >	getMotorInfos () override
	returns the information for the motors. More...

virtual void	addSensor (std::shared_ptr< Sensor > sensor, Attachment attachment=Attachment())
	adds a sensor to the robot. More...

virtual void	addMotor (std::shared_ptr< Motor > motor, Attachment attachment=Attachment())
	adds a motor to the robot. More...

virtual std::list < SensorAttachment >	getAttachedSensors ()
	returns all generic sensors with their attachment More...

virtual std::list < MotorAttachment >	getAttachedMotors ()
	returns all generic motors with their attachment More...

virtual void	addTorqueSensors (double maxtorque=1.0, int avg=1)
	adds a torque sensor to each joint. Call it after placement of robot. More...

virtual void	place (const Pos &pos) final
	sets the vehicle to position pos More...

virtual void	place (const osg::Matrix &pose) final
	sets the pose of the vehicle More...

virtual bool	collisionCallback (void *data, dGeomID o1, dGeomID o2)

virtual void	setColor (const Color &col)
	sets color of the robot 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 angular velocity vector of the object More...

virtual matrix::Matrix	getOrientation () const
	returns the orientation of the object More...

virtual Primitives	getAllPrimitives () const
	returns a list of all primitives of the robot (used to store and restore the robot) More...

virtual Primitives &	getAllPrimitives ()

virtual Joints	getAllJoints () const
	returns a list of all primitives of the robot (const version) (used to store and restore the robot) More...

virtual Joints &	getAllJoints ()

virtual bool	store (FILE *f) const
	returns a list of all joints of the robot (const version) More...

virtual bool	restore (FILE *f)
	loads the object from the given file stream (ASCII preferred). More...

virtual void	moveToPosition (Pos pos=Pos(0, 0, 0.5), int primitiveID=-1)
	relocates robot such its primitive with the given ID is at the new postion (keep current pose). More...

virtual void	moveToPose (Pose pose, int primitiveID=-1)
	relocates robot such its primitive with the given ID is at the new pose (keep relative pose of all primitives). More...

virtual Pose	getInitialPose ()
	returns the initial pose of the main primitive (use it e.g. with moveToPose) More...

virtual Pose	getRelativeInitialPose ()
	returns the initial relative pose of the main primitive (use it with moveToPose to further translate or rotate). More...

virtual void	fixate (GlobalData &global, int primitiveID=-1, double duration=0)
	fixates the given primitive of the robot at its current position to the world for a certain time. More...

virtual bool	unFixate (GlobalData &global)
	release the robot in case it is fixated and return true in this case More...

Public Member Functions inherited from AbstractRobot
	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...

Public Member Functions inherited from Trackable
	Trackable ()
	Constructor. More...

virtual	~Trackable ()

Public Member Functions inherited from Configurable
	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 paramval	getParam (const paramkey &key, bool traverseChildren=true) const
	returns the value of the requested parameter or 0 (+ error message to stderr) if unknown. 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 bool	setParam (const paramkey &key, paramval val, bool traverseChildren=true)
	sets the value of the given parameter or does nothing if unknown. 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 paramlist	getParamList () const
	The list of all parameters with there value as allocated lists. More...

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...

Public Member Functions inherited from BackCaller
	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...

Public Member Functions inherited from Storeable
virtual	~Storeable ()

bool	storeToFile (const char *filename) const
	Provided for convenience. More...

bool	restoreFromFile (const char *filename)
	Provided for convenience. More...

Static Public Member Functions
static DiscusConf	getDefaultConf ()
	default configuration More...

Protected Member Functions
	Discus (const OdeHandle &odeHandle, const OsgHandle &osgHandle, const DiscusConf &conf, const std::string &name, const std::string &revision, double transparency)
	constructor for children More...

void	init ()
	initialises some internal variables More...

virtual void	create (const osg::Matrix &pose)
	creates vehicle at desired position and orientation More...

virtual void	destroy ()
	destroys vehicle and space More...

Protected Member Functions inherited from OdeRobot
void	attachSensor (SensorAttachment &sa)

void	attachMotor (MotorAttachment &ma)

virtual void	cleanup ()
	deletes all objects (primitives) and joints (is called automatically in destructor) More...

Protected Member Functions inherited from Configurable
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

Protected Attributes
Primitive *	object [Last]

SliderServo *	servo [maxservono]

SliderJoint *	joint [maxservono]

OSGPrimitive *	axis [maxservono]

DiscusConf	conf

RaySensorBank	irSensorBank
	a collection of ir sensors More...

double	transparency

bool	created

Protected Attributes inherited from OdeRobot
Primitives	objects
	list of objects (should be populated by subclasses) More...

Joints	joints
	list of joints (should be populated by subclasses) More...

std::list< SensorAttachment >	sensors

std::list< MotorAttachment >	motors

TmpJoint *	fixationTmpJoint

Pose	initialPose

Pose	initialRelativePose

OdeHandle	odeHandle

OsgHandle	osgHandle

dSpaceID	parentspace

bool	initialized

bool	askedfornumber

Static Protected Attributes
static const int	maxservono =3

Additional Inherited Members
Static Public Attributes inherited from Configurable
static const CallbackableType	CALLBACK_CONFIGURABLE_CHANGED = 11

Static Public Attributes inherited from BackCaller
static const CallbackableType	DEFAULT_CALLBACKABLE_TYPE = 0
	This is the default Callbackable type. More...

Static Protected Member Functions inherited from OdeRobot
static bool	isGeomInPrimitiveList (Primitive **ps, int len, dGeomID geom)

static bool	isGeomInPrimitiveList (std::list< Primitive * > ps, dGeomID geom)

Detailed Description

A spherical robot with 3 internal masses, which can slide on their orthogonal axes.

This robot was inspired by Julius Popp (http://sphericalrobots.com)

Member Enumeration Documentation

enum objects

enum for the objects of the robot

Enumerator
Base
Stabilizer
Pendular1
Pendular2
Pendular3
Last

Constructor & Destructor Documentation

Discus	(	const OdeHandle &	odeHandle,
		const OsgHandle &	osgHandle,
		const DiscusConf &	conf,
		const std::string &	name,
		double	transparency = `0.5`
	)

constructor

Discus	(	const OdeHandle &	odeHandle,
		const OsgHandle &	osgHandle,
		const DiscusConf &	conf,
		const std::string &	name,
		const std::string &	revision,
		double	transparency
	)

protected

constructor for children

constructor

~Discus ( )

virtual

Member Function Documentation

void create ( const osg::Matrix & pose )

protectedvirtual

creates vehicle at desired position and orientation

void destroy ( )

protectedvirtual

destroys vehicle and space

void doInternalStuff ( GlobalData & globalData )

virtual

this function is called in each simulation timestep (always after control).

It should perform robot-internal checks and actions like resetting certain sensors or implement velocity dependend friction and the like. The attached Motors should act here (done automatically in OdeRobot); If you overload this function, call the OdeRobot::doInternalStuff() function.

Parameters

globalData structure that contains global data from the simulation environment

Reimplemented from OdeRobot.

static DiscusConf getDefaultConf ( )

inlinestatic

default configuration

virtual Primitive* getMainPrimitive ( ) const

inlinevirtual

return the primitive of the robot that is used for tracking and camera following

Reimplemented from OdeRobot.

int getMotorNumberIntern ( )

virtual

overload this function in a subclass to specific the number of custom sensors

See Also: getMotorNumber()

Reimplemented from OdeRobot.

int getSensorNumberIntern ( )

virtual

overload this function in a subclass to specific the number of custom sensors

See Also: getSensorNumber()

Reimplemented from OdeRobot.

int getSensorsIntern	(	sensor *	sensors,
		int	sensornumber
	)

virtual

Writes the sensor values to an array in the memory.

Parameters

sensor*	pointer to the array
sensornumber	length of the sensor array

Returns: number of actually written sensors

Reimplemented from OdeRobot.

void init ( )

protected

initialises some internal variables

void placeIntern ( const osg::Matrix & pose )

virtual

wrapper to for

See Also: place() that is to be overloaded

Implements OdeRobot.

void sense ( GlobalData & globalData )

overridevirtual

this function is called each controlstep before control.

This is the place the perform active sensing (e.g. Image processing). If you overload this function, call the OdeRobot::sense() function.

Parameters

globalData structure that contains global data from the simulation environment

Reimplemented from OdeRobot.

void setMotorsIntern	(	const double *	motors,
		int	motorsnumber
	)

virtual

overload this function in a subclass to do specific sensor handling, not needed for generic motors

See Also: setMotors(); addMotor()

Reimplemented from OdeRobot.

void update ( )

virtual

update the OSG notes here, if overwritten, call OdeRobot::update()!

Reimplemented from OdeRobot.

Member Data Documentation

OSGPrimitive* axis[maxservono]

protected

DiscusConf conf

protected

bool created

protected

RaySensorBank irSensorBank

protected

a collection of ir sensors

SliderJoint* joint[maxservono]

protected

const int maxservono =3

staticprotected

Primitive* object[Last]

protected

SliderServo* servo[maxservono]

protected

double transparency

protected

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

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Static Protected Attributes

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation