Sphererobot Class Reference

This is a class, which models a snake like robot. More...

#include <sphererobot.h>

Inherits OdeRobot.

Inheritance diagram for Sphererobot:

[legend]Collaboration diagram for Sphererobot:

[legend]List of all members.

Public Types
	Base
	Pendular
	Pole1Bot
	Pole2Bot
	Pole3Bot
	Pole1Top
	Pole2Top
	Pole3Top
	Last
enum	objects {   Base, Pendular, Pole1Bot, Pole2Bot,   Pole3Bot, Pole1Top, Pole2Top, Pole3Top,   Last }
Public Member Functions
	Sphererobot (const OdeHandle &odeHandle, const OsgHandle &osgHandle, const SphererobotConf &conf, const std::string &name)
virtual	~Sphererobot ()
virtual void	update ()
	update the subcomponents
virtual void	place (const osg::Matrix &pose)
	sets the pose of the vehicle
virtual bool	collisionCallback (void *data, dGeomID o1, dGeomID o2)
	This is the collision handling function for snake robots.
virtual void	doInternalStuff (GlobalData &globalData)
	this function is called in each timestep.
virtual int	getSensors (sensor *sensors, int sensornumber)
	Writes the sensor values to an array in the memory.
virtual void	setMotors (const motor *motors, int motornumber)
	Reads the actual motor commands from an array, an sets all motors of the snake to this values.
virtual int	getMotorNumber ()
	Returns the number of motors used by the snake.
virtual int	getSensorNumber ()
	Returns the number of sensors used by the robot.
virtual int	getSegmentsPosition (std::vector< Position > &poslist)
	returns a vector with the positions of all segments of the robot
virtual Primitive *	getMainPrimitive () const
	the main object of the robot, which is used for position and speed tracking
Static Public Member Functions
static SphererobotConf	getDefaultConf ()
Public Attributes
SliderServo *	servo [3]
Primitive *	object [Last]
SliderJoint *	slider [3]
Joint *	joint [6]
Protected Member Functions
virtual void	create (const osg::Matrix &pose)
	creates vehicle at desired position
virtual void	destroy ()
	destroys vehicle and space
Protected Attributes
SphererobotConf	conf
bool	created
Static Protected Attributes
static const int	sensorno = 9

---

Detailed Description

This is a class, which models a snake like robot.

It consists of a number of equal elements, each linked by a joint. This class is based upon the class roboter by the same author.

Author:

Marcel Kretschmann

Version:

beta

---

Member Enumeration Documentation

enum objects

Enumerator:

Base
Pendular
Pole1Bot
Pole2Bot
Pole3Bot
Pole1Top
Pole2Top
Pole3Top
Last

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Constructor & Destructor Documentation

Sphererobot	(	const OdeHandle &	odeHandle,
		const OsgHandle &	osgHandle,
		const SphererobotConf &	conf,
		const std::string &	name
	)

~Sphererobot

(

)

[virtual]

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Member Function Documentation

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

This is the collision handling function for snake robots.

This overwrides the function collisionCallback of the class robot.

Parameters:

	data
	o1	first geometrical object, which has taken part in the collision
	o2	second geometrical object, which has taken part in the collision

Returns:

true if the collision was threated by the robot, false if not

Reimplemented from OdeRobot.

void create

(

const osg::Matrix &

pose

)

[protected, virtual]

creates vehicle at desired position

Parameters:

pose

4x4 pose matrix

void destroy

(

)

[protected, virtual]

destroys vehicle and space

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.

static SphererobotConf getDefaultConf

(

)

[inline, static]

virtual Primitive* getMainPrimitive

(

)

const [inline, virtual]

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

Implements OdeRobot.

int getMotorNumber

(

)

[virtual]

Returns the number of motors used by the snake.

Returns:

number of motors

Implements AbstractRobot.

int getSegmentsPosition

(

std::vector< Position > &

poslist

)

[virtual]

returns a vector with the positions of all segments of the robot

Parameters:

vector

of positions (of all robot segments)

Returns:

length of the list

int getSensorNumber

(

)

[virtual]

Returns the number of sensors used by the robot.

Returns:

number of sensors

Implements AbstractRobot.

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

Writes the sensor values to an array in the memory.

Parameters:

	sensors	pointer to the array
	sensornumber	length of the sensor array

Returns:

number of actually written sensors

Implements AbstractRobot.

void place

(

const osg::Matrix &

pose

)

[virtual]

sets the pose of the vehicle

Parameters:

pose

desired 4x4 pose matrix

Implements OdeRobot.

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

Reads the actual motor commands from an array, an sets all motors of the snake to this values.

It is an linear allocation.

Parameters:

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

Implements AbstractRobot.

void update

(

)

[virtual]

update the subcomponents

Implements OdeRobot.

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Member Data Documentation

SphererobotConf conf [protected]

bool created [protected]

Joint* joint[6]

Primitive* object[Last]

const int sensorno = 9 [static, protected]

SliderServo* servo[3]

SliderJoint* slider[3]

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

• sphererobot.h
• sphererobot.cpp

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