FourWheeled Class Reference

Robot is based on nimm4 with 4 wheels and a capsule like body. More...

#include <fourwheeled.h>

Inherits Nimm4.

Inheritance diagram for FourWheeled:

[legend]Collaboration diagram for FourWheeled:

[legend]List of all members.

Public Member Functions
	FourWheeled (const OdeHandle &odeHandle, const OsgHandle &osgHandle, FourWheeledConf conf, const std::string &name)
	constructor of nimm4 robot
virtual	~FourWheeled ()
virtual void	update ()
	updates the OSG nodes of the vehicle
virtual int	getSensorNumber ()
	returns number of sensors
virtual int	getSensors (sensor *sensors, int sensornumber)
	returns actual sensorvalues
virtual void	doInternalStuff (GlobalData &globalData)
	this function is called in each timestep.
Static Public Member Functions
static FourWheeledConf	getDefaultConf ()
Protected Member Functions
virtual void	create (const osg::Matrix &pose)
	creates vehicle at desired position
virtual void	destroy ()
	destroys vehicle and space
Protected Attributes
FourWheeledConf	conf
RaySensorBank	irSensorBank
Primitive *	bumpertrans
Primitive *	bumper

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Detailed Description

Robot is based on nimm4 with 4 wheels and a capsule like body.

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Constructor & Destructor Documentation

FourWheeled	(	const OdeHandle &	odeHandle,
		const OsgHandle &	osgHandle,
		FourWheeledConf	conf,
		const std::string &	name
	)

constructor of nimm4 robot

Parameters:

	odeHandle	data structure for accessing ODE
	osgHandle	ata structure for accessing OSG
	conf	configuration structure
	name	name of the robot

~FourWheeled

(

)

[virtual]

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Member Function Documentation

void create

(

const osg::Matrix &

pose

)

[protected, virtual]

creates vehicle at desired position

Parameters:

pose

4x4 pose matrix

Reimplemented from Nimm4.

void destroy

(

)

[protected, virtual]

destroys vehicle and space

Reimplemented from Nimm4.

void doInternalStuff

(

GlobalData &

globalData

)

[virtual]

this function is called in each timestep.

It should perform robot-internal checks, like space-internal collision detection, sensor resets/update etc.

Parameters:

globalData

structure that contains global data from the simulation environment

Reimplemented from Nimm4.

static FourWheeledConf getDefaultConf

(

)

[inline, static]

int getSensorNumber

(

)

[virtual]

returns number of sensors

Reimplemented from Nimm4.

int getSensors	(	sensor *	sensors,
		int	sensornumber
	)			[virtual]

returns actual sensorvalues

Parameters:

	sensors	sensors scaled to [-1,1]
	sensornumber	length of the sensor array

Returns:

number of actually written sensors

Reimplemented from Nimm4.

void update

(

)

[virtual]

updates the OSG nodes of the vehicle

Reimplemented from Nimm4.

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Member Data Documentation

Primitive* bumper [protected]

Primitive* bumpertrans [protected]

FourWheeledConf conf [protected]

RaySensorBank irSensorBank [protected]

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

• fourwheeled.h
• fourwheeled.cpp

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