ReplayRobot Class Reference

#include <replayrobot.h>

Inherits OdeRobot.

Inheritance diagram for ReplayRobot:

[legend]Collaboration diagram for ReplayRobot:

[legend]List of all members.

Public Member Functions
	ReplayRobot (const OdeHandle &odeHandle, const OsgHandle &osgHandle, const char *filename)
	~ReplayRobot ()
virtual void	update ()
	update the OSG notes here
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.
virtual bool	collisionCallback (void *data, dGeomID o1, dGeomID o2)
Protected Member Functions
virtual Primitive *	getMainPrimitive () const
	the main object of the robot, which is used for position and speed tracking
Static Protected Member Functions
static bool	parseDataFileForHeader (FILE *f, int &sensorstart, int &sensorend, int &motorstart, int &motorend)
static bool	parseDataLine (matrix::Matrix &data, FILE *f)
static bool	isEmpty (const char *c)
static bool	check4Number (const char *c)
Protected Attributes
int	sensorStart
int	sensorEnd
int	motorStart
int	motorEnd
matrix::Matrix	sensors
const char *	filename
FILE *	f

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Constructor & Destructor Documentation

ReplayRobot	(	const OdeHandle &	odeHandle,
		const OsgHandle &	osgHandle,
		const char *	filename
	)

~ReplayRobot

(

)

---

Member Function Documentation

bool check4Number

(

const char *

c

)

[static, protected]

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

Deprecated:

Do not use it anymore, collision control is done automatically. In case of a treatment return true (collision will be ignored by other objects and the default routine) else false (collision is passed to other objects and (if not treated) to the default routine).

Reimplemented from OdeRobot.

virtual void doInternalStuff

(

GlobalData &

globalData

)

[inline, 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.

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.

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.

bool isEmpty

(

const char *

c

)

[static, protected]

bool parseDataFileForHeader	(	FILE *	f,
		int &	sensorstart,
		int &	sensorend,
		int &	motorstart,
		int &	motorend
	)			[static, protected]

bool parseDataLine	(	matrix::Matrix &	data,
		FILE *	f
	)			[static, protected]

virtual void place

(

const osg::Matrix &

pose

)

[inline, virtual]

sets the pose of the vehicle

Parameters:

pose

desired 4x4 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.

virtual void update

(

)

[inline, virtual]

update the OSG notes here

Implements OdeRobot.

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Member Data Documentation

FILE* f [protected]

const char* filename [protected]

int motorEnd [protected]

int motorStart [protected]

int sensorEnd [protected]

matrix::Matrix sensors [protected]

int sensorStart [protected]

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

• replayrobot.h
• replayrobot.cpp

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