Nimm4 Class Reference

Robot that looks like a Nimm 2 Bonbon :-) 4 wheels and a capsule like body. More...

#include <nimm4.h>

Inherits OdeRobot.

Inherited by FourWheeled.

Inheritance diagram for Nimm4:

[legend]Collaboration diagram for Nimm4:

[legend]List of all members.

Public Member Functions
	Nimm4 (const OdeHandle &odeHandle, const OsgHandle &osgHandle, const std::string &name, double size=1, double force=3, double speed=15, bool sphereWheels=true)
	constructor of nimm4 robot
virtual	~Nimm4 ()
virtual void	update ()
	updates the osg notes
virtual void	place (const osg::Matrix &pose)
	sets the pose of the vehicle
virtual int	getSensors (sensor *sensors, int sensornumber)
	returns actual sensorvalues
virtual void	setMotors (const motor *motors, int motornumber)
	sets actual motorcommands
virtual int	getSensorNumber ()
	returns number of sensors
virtual int	getMotorNumber ()
	returns number of motors
virtual void	doInternalStuff (GlobalData &globalData)
	this function is called in each timestep.
Protected Member Functions
virtual Primitive *	getMainPrimitive () const
	the main object of the robot, which is used for position and speed tracking
virtual void	create (const osg::Matrix &pose)
	creates vehicle at desired pose
virtual void	destroy ()
	destroys vehicle and space
Static Protected Member Functions
static void	mycallback (void *data, dGeomID o1, dGeomID o2)
	additional things for collision handling can be done here
Protected Attributes
double	length
double	width
double	height
double	radius
double	wheelthickness
bool	sphereWheels
double	cmass
double	wmass
int	sensorno
int	motorno
int	segmentsno
double	speed
double	max_force
bool	created
Primitive *	object [5]
Hinge2Joint *	joint [4]

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Detailed Description

Robot that looks like a Nimm 2 Bonbon :-) 4 wheels and a capsule like body.

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Constructor & Destructor Documentation

Nimm4	(	const OdeHandle &	odeHandle,
		const OsgHandle &	osgHandle,
		const std::string &	name,
		double	size = 1,
		double	force = 3,
		double	speed = 15,
		bool	sphereWheels = true
	)

constructor of nimm4 robot

Parameters:

	odeHandle	data structure for accessing ODE
	osgHandle	ata structure for accessing OSG
	size	scaling of robot
	force	maximal used force to realize motorcommand
	speed	factor for changing speed of robot
	sphereWheels	switches between spheres and 'normal' wheels

virtual ~Nimm4

(

)

[inline, virtual]

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Member Function Documentation

void create

(

const osg::Matrix &

pose

)

[protected, virtual]

creates vehicle at desired pose

Parameters:

pose

4x4 pose matrix

Reimplemented in FourWheeled.

void destroy

(

)

[protected, virtual]

destroys vehicle and space

Reimplemented in FourWheeled.

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

Implements OdeRobot.

Reimplemented in FourWheeled.

virtual Primitive* getMainPrimitive

(

)

const [inline, protected, virtual]

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

Implements OdeRobot.

virtual int getMotorNumber

(

)

[inline, virtual]

returns number of motors

Implements AbstractRobot.

virtual int getSensorNumber

(

)

[inline, virtual]

returns number of sensors

Implements AbstractRobot.

Reimplemented in FourWheeled.

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

Implements AbstractRobot.

Reimplemented in FourWheeled.

static void mycallback	(	void *	data,
		dGeomID	o1,
		dGeomID	o2
	)			[static, protected]

additional things for collision handling can be done here

void place

(

const osg::Matrix &

pose

)

[virtual]

sets the pose of the vehicle

Parameters:

pose

desired pose matrix

Implements OdeRobot.

void setMotors	(	const motor *	motors,
		int	motornumber
	)			[virtual]

sets actual motorcommands

Parameters:

	motors	motors scaled to [-1,1]
	motornumber	length of the motor array

Implements AbstractRobot.

void update

(

)

[virtual]

updates the osg notes

Implements OdeRobot.

Reimplemented in FourWheeled.

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Member Data Documentation

double cmass [protected]

bool created [protected]

double height [protected]

Hinge2Joint* joint[4] [protected]

double length [protected]

double max_force [protected]

int motorno [protected]

Primitive* object[5] [protected]

double radius [protected]

int segmentsno [protected]

int sensorno [protected]

double speed [protected]

bool sphereWheels [protected]

double wheelthickness [protected]

double width [protected]

double wmass [protected]

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

• nimm4.h
• nimm4.cpp

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