AbstractRobot Class Reference

Abstract class (interface) for robot in general. More...

#include <abstractrobot.h>

Inherits Trackable, and Configurable.

Inherited by OdeRobot, and MyRobot.

Inheritance diagram for AbstractRobot:

[legend]Collaboration diagram for AbstractRobot:

[legend]List of all members.

Public Types
typedef double	sensor
typedef double	motor
Public Member Functions
	AbstractRobot (const std::string &name="abstractRobot", const std::string &revision="$ID$")
	Constructor.
virtual	~AbstractRobot ()
virtual int	getSensors (sensor *sensors, int sensornumber)=0
	returns actual sensorvalues
virtual void	setMotors (const motor *motors, int motornumber)=0
	sets actual motorcommands
virtual int	getSensorNumber ()=0
	returns number of sensors
virtual int	getMotorNumber ()=0
	returns number of motors

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Detailed Description

Abstract class (interface) for robot in general.

Examples:

integration/main.cpp.

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Member Typedef Documentation

typedef double motor

typedef double sensor

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Constructor & Destructor Documentation

AbstractRobot	(	const std::string &	name = "abstractRobot",
		const std::string &	revision = "$ID$"
	)			[inline]

Constructor.

Parameters:

	name	name of the robot
	revision	revision number of the file (Hint: use CVS variable $ID$ )

virtual ~AbstractRobot

(

)

[inline, virtual]

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Member Function Documentation

virtual int getMotorNumber

(

)

[pure virtual]

returns number of motors

Implemented in MyRobot, AddSensors2RobotAdapter, Arm, Arm2Segm, AtomComponent, CaterPillar, Component, DefaultCaterPillar, DefaultWheelie, Discus, ForcedSphere, Formel1, Hand, HurlingSnake, MuscledArm, Nimm2, Nimm4, ReplayRobot, RobotComponent, Schlange, SchlangeForce, SchlangeServo, SchlangeServo2, SchlangeVelocity, ShortCircuit, SliderWheelie, Sphererobot, Sphererobot3Masses, TruckMesh, Uwo, VierBeiner, and Wheelie.

virtual int getSensorNumber

(

)

[pure virtual]

returns number of sensors

Implemented in MyRobot, AddSensors2RobotAdapter, Arm, Arm2Segm, AtomComponent, CaterPillar, Component, DefaultCaterPillar, DefaultWheelie, Discus, ForcedSphere, Formel1, FourWheeled, Hand, HurlingSnake, MuscledArm, Nimm2, Nimm4, ReplayRobot, RobotComponent, Schlange, SchlangeForce, SchlangeServo, SchlangeServo2, SchlangeVelocity, ShortCircuit, SliderWheelie, Sphererobot, Sphererobot3Masses, TruckMesh, Uwo, VierBeiner, and Wheelie.

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

returns actual sensorvalues

Parameters:

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

Returns:

number of actually written sensors

Implemented in MyRobot, AddSensors2RobotAdapter, Arm, Arm2Segm, AtomComponent, Barrel2Masses, Barrel2Masses2nd, CaterPillar, Component, DefaultCaterPillar, DefaultWheelie, Discus, ForcedSphere, Formel1, FourWheeled, Hand, HurlingSnake, MuscledArm, Nimm2, Nimm4, ReplayRobot, RobotComponent, Schlange, SchlangeForce, SchlangeServo, SchlangeServo2, SchlangeVelocity, ShortCircuit, SliderWheelie, Sphererobot, Sphererobot3Masses, TruckMesh, Uwo, VierBeiner, and Wheelie.

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

sets actual motorcommands

Parameters:

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

Implemented in MyRobot, AddSensors2RobotAdapter, Arm, Arm2Segm, AtomComponent, CaterPillar, Component, DefaultCaterPillar, DefaultWheelie, Discus, ForcedSphere, Formel1, Hand, HurlingSnake, MuscledArm, Nimm2, Nimm4, ReplayRobot, RobotComponent, Schlange, SchlangeForce, SchlangeServo, SchlangeServo2, SchlangeVelocity, ShortCircuit, SliderWheelie, Sphererobot, Sphererobot3Masses, TruckMesh, Uwo, VierBeiner, and Wheelie.

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

• abstractrobot.h

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