Skeleton Class Reference

should look like a humanoid More...

#include <skeleton.h>

Inheritance diagram for Skeleton:

Collaboration diagram for Skeleton:

Public Types
enum	SkelParts {   Hip, Trunk_comp, Belly, Thorax,   Neck, Head_comp, Left_Shoulder, Left_Forearm,   Left_Hand, Right_Shoulder, Right_Forearm, Right_Hand,   Left_Thigh, Left_Shin, Left_Foot, Right_Thigh,   Right_Shin, Right_Foot, LastPart }
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 Types inherited from Inspectable
typedef std::string	iparamkey
typedef double	iparamval
typedef std::pair< iparamkey, iparamval const * >	iparampair
typedef std::pair< iparamkey, std::pair< const matrix::Matrix *, bool > >	imatrixpair
typedef std::list< iparamkey >	iparamkeylist
typedef std::list< std::string >	infoLinesList
typedef std::list< iparamval >	iparamvallist
typedef std::list< iparamval const * >	iparamvalptrlist
typedef std::list< iparampair >	iparampairlist
typedef std::list< imatrixpair >	imatrixpairlist
typedef struct Inspectable::ILayer	ILayer
typedef struct Inspectable::IConnection	IConnection
typedef std::list< ILayer >	ilayerlist
typedef std::list< IConnection >	iconnectionlist
typedef std::list< const Inspectable * >	inspectableList

Public Member Functions
	Skeleton (const OdeHandle &odeHandle, const OsgHandle &osgHandle, SkeletonConf &conf, const std::string &name)
	constructor of Skeleton robot More...
virtual	~Skeleton ()
virtual void	placeIntern (const osg::Matrix &pose)
	sets the pose of the vehicle More...
virtual int	getSensorsIntern (sensor *sensors, int sensornumber)
	overload this function in a subclass to do specific sensor handling, not needed for generic sensors More...
virtual void	setMotorsIntern (const motor *motors, int motornumber)
	overload this function in a subclass to do specific sensor handling, not needed for generic motors More...
virtual int	getSensorNumberIntern ()
	overload this function in a subclass to specific the number of custom sensors More...
virtual int	getMotorNumberIntern ()
	overload this function in a subclass to specific the number of custom sensors More...
virtual void	notifyOnChange (const paramkey &key)
	Is called when a parameter was changes via setParam(). More...
virtual Primitive *	getMainPrimitive () const
	the main object of the robot, which is used for position and speed tracking More...
virtual Position	getHeadPosition ()
	returns the position of the head More...
virtual Position	getTrunkPosition ()
	returns the position of the trunk More...
GripperList &	getGrippers ()
	returns a the gripper list 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	update ()
	update the OSG notes here, if overwritten, call OdeRobot::update()! 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	sense (GlobalData &globalData)
	this function is called each controlstep before control. More...
virtual void	doInternalStuff (GlobalData &globalData)
	this function is called in each simulation timestep (always after control). More...
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	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...
Public Member Functions inherited from Inspectable
	Inspectable (const iparamkey &name="")
	TYPEDEFS END. More...
virtual	~Inspectable ()
virtual iparamkeylist	getInternalParamNames () const
	The list of the names of all internal parameters given by getInternalParams(). More...
virtual iparamvallist	getInternalParams () const
virtual iparamvalptrlist	getInternalParamsPtr () const
	be careful: matrices will be ignored More...
virtual ilayerlist	getStructuralLayers () const
	Specifies which parameter vector forms a structural layer (in terms of a neural network) The ordering is important. More...
virtual iconnectionlist	getStructuralConnections () const
	Specifies which parameter matrix forms a connection between layers (in terms of a neural network) The orderning is not important. More...
virtual void	addInspectableValue (const iparamkey &key, iparamval const *val, const std::string &descr=std::string())
	This is the new style for adding inspectable values. More...
virtual void	addInspectableMatrix (const iparamkey &key, const matrix::Matrix *m, bool only4x4AndDiag=true, const std::string &descr=std::string())
	This is the new style for adding inspectable values. More...
virtual void	addInspectableDescription (const iparamkey &key, const std::string &descr)
	adds a description for the given parameter using info-lines The line will start (appart from the #I) with a D for description followed by the key end then followed by the string. More...
virtual void	addInfoLine (std::string infoLine)
	Adds an info line to this inspectable instance. More...
virtual void	addInfoLines (std::list< std::string > infoLineList)
	Adds a bunch of infolines with addInfoLine to this inspectable instance. More...
virtual void	removeInfoLines ()
	Removes all infolines from this inspectable instance. More...
virtual const infoLinesList &	getInfoLines () const
	Returns all infolines added to this inspectable instance. More...
virtual void	addInspectable (Inspectable *insp)
	Adds an inspectable as a child object. More...
virtual void	removeInspectable (Inspectable *insp)
	Removes an inspectable as a child object. More...
virtual void	setNameOfInspectable (const iparamkey &name)
	set the name of the inspectable More...
virtual const iparamkey	getNameOfInspectable () const
	return the name of the inspectable, getName() would conflict with Configurable::getName() too often More...
virtual const inspectableList &	getInspectables () const
	Returns the list containing all inspectable children. More...

Static Public Member Functions
static SkeletonConf	getDefaultConf ()
static SkeletonConf	getDefaultConfVelServos ()

Protected Member Functions
virtual void	create (const osg::Matrix &pose)
	creates vehicle at desired pose 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
SkeletonConf	conf
bool	created
OdeHandle	ignoreColSpace
std::vector< TwoAxisServo * >	hipservos
std::vector< OneAxisServo * >	kneeservos
std::vector< OneAxisServo * >	ankleservos
std::vector< TwoAxisServo * >	armservos
std::vector< OneAxisServo * >	arm1servos
std::vector< TwoAxisServo * >	headservos
OneAxisServo *	pelvisservo
std::vector< OneAxisServo * >	backservos
std::vector< TwoAxisServo * >	backservos2
std::vector< AngularMotor * >	frictionmotors
GripperList	grippers
int	backbendindex
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
Protected Attributes inherited from Inspectable
iparamkey	name
iparampairlist	mapOfValues
imatrixpairlist	mapOfMatrices
infoLinesList	infoLineStringList

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

should look like a humanoid

Member Enumeration Documentation

enum SkelParts

Enumerator
Hip
Trunk_comp
Belly
Thorax
Neck
Head_comp
Left_Shoulder
Left_Forearm
Left_Hand
Right_Shoulder
Right_Forearm
Right_Hand
Left_Thigh
Left_Shin
Left_Foot
Right_Thigh
Right_Shin
Right_Foot
LastPart

Constructor & Destructor Documentation

Skeleton	(	const OdeHandle &	odeHandle,
		const OsgHandle &	osgHandle,
		SkeletonConf &	conf,
		const std::string &	name
	)

constructor of Skeleton robot

Parameters

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

virtual ~Skeleton ( )

inlinevirtual

Member Function Documentation

void create ( const osg::Matrix &  pose )

protectedvirtual

creates vehicle at desired pose

creates vehicle at desired position

Parameters

pose	4x4 pose matrix
pos	struct Position with desired position

void destroy ( )

protectedvirtual

destroys vehicle and space

static SkeletonConf getDefaultConf ( )

inlinestatic

static SkeletonConf getDefaultConfVelServos ( )

inlinestatic

GripperList & getGrippers

(

)

returns a the gripper list

returns the grippers

Position getHeadPosition ( )

virtual

returns the position of the head

virtual Primitive* getMainPrimitive ( ) const

inlinevirtual

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

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

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

See Also

getSensors()

addSensor()

Reimplemented from OdeRobot.

Position getTrunkPosition ( )

virtual

returns the position of the trunk

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 placeIntern ( const osg::Matrix &  pose )

virtual

sets the pose of the vehicle

Parameters

pose	desired pose matrix

Implements OdeRobot.

void setMotorsIntern ( const motor *  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.

Member Data Documentation

std::vector<OneAxisServo*> ankleservos

protected

std::vector<OneAxisServo*> arm1servos

protected

std::vector<TwoAxisServo*> armservos

protected

int backbendindex

protected

std::vector<OneAxisServo*> backservos

protected

std::vector<TwoAxisServo*> backservos2

protected

SkeletonConf conf

protected

bool created

protected

std::vector<AngularMotor*> frictionmotors

protected

GripperList grippers

protected

std::vector<TwoAxisServo*> headservos

protected

std::vector<TwoAxisServo*> hipservos

protected

OdeHandle ignoreColSpace

protected

std::vector<OneAxisServo*> kneeservos

protected

OneAxisServo* pelvisservo

protected

---

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

• skeleton.h
• skeleton.cpp