forward declarations More...

Classes
class	TrackablePrimitive

class	TraceDrawer

class	OdeAgent
	Specialised agent for ode robots. More...

struct	DifferentialConf

class	Differential
	Differential robot: two separated wheel on each side of the body Inherit from OdeRobot. 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	ConstantMotor
	Wrapper for Motor to have a constant set value (resulting in getMotorNumber()=0) 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	SliderServoVel
	Servo for sliders 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

struct	StatLineProperties

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	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	OSGLine

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

struct	AmosFourConf

class	AmosFour

struct	AmosIIConf

class	AmosII

struct	ArmConf

class	Arm

struct	Arm2SegmConf

class	Arm2Segm

class	ImpTransform

class	Ashigaru
	Robot ASHIGARU :-) 3 legged robot which could be easily connected each other. More...

class	Barrel2Masses
	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...

class	Kuka
	Robot that emulates the Kuka lightweight robot arm, consisting of 5 arm segments, one endeffector upon and a small box representing the Tool-Center-Point (TCP) of the endeffector where different tools can be mounted. More...

struct	MuscledArmConf

class	MuscledArm

class	Nejihebi
	Nejihebi Robot. More...

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...

struct	Attachment
	structure to hold attachment data for sensors and motors 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	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...

class	DerivativeSensor
	Class for measuring (time) derivatives of a given 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	PhysicalSensor
	Abstract class for sensors that have a physical representation. More...

class	RangeFinder
	Class representing a range finder. More...

class	RaySensor
	Class for Ray-based sensors. More...

class	RaySensorBank
	Class for a bank (collection) of ray sensors. More...

class	RelativePositionSensor
	Class for relative (or absolute) 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 to 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	SensorMotorInfoAble
	Abstract class for giving names to sensors and motors. More...

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 or a message text 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. More...

typedef struct lpzrobots::Bumper	Bumper

typedef std::vector< Primitive * >	Primitives

typedef std::vector< Joint * >	Joints

typedef std::pair < std::shared_ptr< Sensor > , Attachment >	SensorAttachment

typedef std::pair < std::shared_ptr< Motor > , Attachment >	MotorAttachment

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	Motor_type { With_servo_motor, Without_servo_motor }

enum	IrSensor_Type { irDrawAll, irBack, irSide, irFront }

enum	GripMode { lateral, precision }

Functions
void	printCornerPointsXY (Box box, FILE f)

ref_ptr< Material >	getMaterial (const Color &c, Material::ColorMode mode=Material::AMBIENT_AND_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 More...

Pose	osgPose (dBodyID body)
	returns the osg (4x4) pose matrix of the ode body More...

Pose	osgPose (const double position, const double rotation)
	converts a position vector and a rotation matrix from ode to osg 4x4 matrix More...

void	odeRotation (const Pose &pose, dMatrix3 &odematrix)
	converts the rotation component of pose into an ode rotation matrix More...

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	contactCollCallbackNoCol (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)

static Color	getColorBlend (const Color &a, const Color &b, double value)

int	rayCollCallback (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 More...

static void *	osgStep_run (void *p)
	redirection function, because we can't call member function direct More...

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

string	getListOption (int argc, char **argv, int index)

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 More...

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 ... More...

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 More...

void	closeConsole ()
	should be called at the end (to store history) More...

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 More...

Matrix	osgMatrix2Matrixlib (const osg::Matrix &m)
	converts osg matrix to matrix of matrixlib More...

osg::Matrix	rotationMatrixFromAxisX (const Axis &axis)
	returns a Rotation matrix that rotates the x-axis along with the given axis. More...

osg::Matrix	rotationMatrixFromAxisZ (const Axis &axis)
	returns a Rotation matrix that rotates the z-axis along with the given axis. More...

double	getAngle (const osg::Vec3 &a, const osg::Vec3 &b)
	returns the angle between two vectors (in rad) More...

matrix::Matrix	odeRto3x3RotationMatrixT (const double R[12])
	converts an ode rotation matrix into a 3x3 rotation matrix (matrixlib) More...

matrix::Matrix	odeRto3x3RotationMatrix (const double R[12])
	converts an ode rotation matrix into a 3x3 rotation matrix (matrixlib) More...

Position	multMatrixPosition (const matrix::Matrix &r, Position &p)
	Multiplies 3x3 matrix with position. More...

Matrix	getRotationMatrix (const double &angle)
	returns a rotation matrix with the given angle More...

Matrix	getTranslationMatrix (const Position &p)
	returns a translation matrix with the given Position More...

Matrix	removeTranslationInMatrix (const matrix::Matrix &pose)
	removes the translation in the matrix More...

Matrix	removeRotationInMatrix (const matrix::Matrix &pose)
	removes the rotation in the matrix More...

double	getAngle (Position a, Position b)
	returns the angle between two vectors More...

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) More...

int	t = 1

int	c = 1

static FILE *	ODEMessageFile = 0

COMMAND	commands []

ParameterList	parameters

int	_quit_request =false

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<Joint*> Joints

typedef std::pair<std::shared_ptr<Motor>, Attachment> MotorAttachment

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 std::pair<std::shared_ptr<Sensor>, Attachment> SensorAttachment

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 Motor_type

Enumerator
With_servo_motor
Without_servo_motor

enum ODEAMOTORAXISREF

Enumerator
GlobalFrame
FirstBody
SecondBody

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
	)

int lpzrobots::contactCollCallbackNoCol	(	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 ( IndexOutOfBoundsException )

lpzrobots::EXCEPTION_TEMPLATE ( InvalidArgumentException )

lpzrobots::EXCEPTION_TEMPLATE ( DimensionMismatchException )

bool execute_line	(	GlobalData &	globalData,
		char *	line
	)

COMMAND * find_command ( char * name )

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

returns the angle between two vectors (in rad)

double getAngle	(	Position	a,
		Position	b
	)

returns the angle between two vectors

static Color lpzrobots::getColorBlend	(	const Color &	a,
		const Color &	b,
		double	value
	)

static

int lpzrobots::getListLen ( char ** strings )

string lpzrobots::getListOption	(	int	argc,
		char **	argv,
		int	index
	)

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

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 ( 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 *	V,
		const double *	R
	)

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

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

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

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 _quit_request =false

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

Classes

Typedefs

Enumerations

Functions

Variables

Detailed Description

Typedef Documentation

Enumeration Type Documentation

Function Documentation

Variable Documentation