AtomComponent Class Reference

#include <atomcomponent.h>

Inheritance diagram for AtomComponent:

[legend]Collaboration diagram for AtomComponent:


Public Member Functions
	AtomComponent (const OdeHandle &odeHandle, const OsgHandle &osgHandle, const ComponentConf &conf, const AtomConf &aconf)
	~AtomComponent ()
virtual void	deleteStructureRecursive ()
virtual int	getSensors (sensor *sensors, int sensornumber)
	Use this, to get all sensor values of all the joints of all subcomponents, and the sensors of all robots, belonging to all subcomponents.
virtual void	setMotors (const motor *motors, int motornumber)
	Sets the motor values for the joints connecting the component with its subcomponents, an recursivly the joints of all subComponents.
virtual int	getSensorNumber ()
	Returns number of sensors; recursivly adding of the number of sensors all subcomponents and the robots of all Subcomponents.
virtual int	getMotorNumber ()
	returns number of motors; recursivly adding of the number of sensors all subcomponents; at the moment only counts Hinge-, Slider-, Hinge2 and Universal-Joints; The Motor-Numbers of the robots of the Components is not counted.
virtual void	update ()
	update the OSG notes here
virtual void	place (const Pos &pos)
	sets the vehicle to position pos
virtual void	place (const osg::Matrix &pose)
	sets the pose of the vehicle
virtual bool	collisionCallback (void *data, dGeomID o1, dGeomID o2)
virtual bool	shellCollision (dGeomID o1, dGeomID o2)
virtual void	doInternalStuff (GlobalData &globalData)
	this function is called in each timestep after control.
virtual Position	getPosition () const
	returns position of the object
virtual osg::Vec3	getPositionbetweenComponents (Component *component)
	This is only a simple function, calculating the coordinates of the point exactly between two directly connected components.
virtual Primitive *	getMainPrimitive () const
virtual componentConnection *	getStrongestSoftlinkofStructure ()
	Searches for the softlink in the substructure of THIS component which has the highest binding strength.
virtual void	makeComponentStructureRoot ()
	This changes the structure of all components connected with this component, so that this component will become the new root of this structure.
virtual double	getMotionForce ()
	Calculates the linear force the Component has at the time of calling this function.
virtual double	getCollisionForce (AtomComponent *collAtom)
	Calculates the linear force between two components at the moment of calling this function.
virtual bool	fusionCondition (dGeomID o1, dGeomID o2)
	Tests if the conditions for fusion of two atoms are fulfilled.
virtual bool	fissionCondition (dGeomID o1, dGeomID o2, double force)
	now fission is allowed if there is a single connection, with a binding energy smaller than the force of the colission, but the minimum value for fission from atomconf has to be reached
virtual bool	collisionExclusionCondition (dGeomID o1, dGeomID o2)
	Test which collisions should not be handled.
virtual bool	fusion (AtomComponent *atom_to_fuse)
	fuses this AtomComponent with an other one
virtual void	disableStructureFusionRecursive ()
	Sets all teh fusionDisable parameters of the structure belonging to THIS atom to true, so that no fusion will occur.
virtual void	enableStructureFusionRecursive ()
	Sets all teh fusionDisable parameters of the structure belonging to THIS atom to false, so that fusion will occur.
virtual bool	fission (double force)
	fissions a AtomComponent from this AtomComponent
virtual void	fissionOf (componentConnection *tmpconnection)
virtual AtomComponent *	getLeastFittestDivideComponent (int minsize, AtomComponent *currentBestDivideComponent)
virtual AtomComponent *	getCopyOutofTable (std::vector< TableLine > &table)
virtual AtomComponent *	copyBaseStructure (osg::Vec3 deltaposition, std::vector< TableLine > &copytable)
virtual AtomComponent *	copySoftlinkStructure (std::vector< TableLine > &copytable)
virtual AtomComponent *	copyCompleteStructure (osg::Vec3 deltaposition, AtomComponent *copystartcomponent)
virtual bool	replication (AtomComponent *atom_to_recplicate)
	Replication.
virtual bool	replication_old (AtomComponent *atom_to_recplicate)
	Replication.
virtual void	setConnectionFitness (unsigned int number, double value)
virtual void	setConnectionFitnessAll (double value)
virtual double	getConnectionFitness (unsigned int number)
virtual double	getConnectionFitness (AtomComponent *searchedsubcomponent)
virtual double	getStructureFitness ()
virtual void	updateConnectionFitnessAll (AbstractController *controller)
Static Public Member Functions
static AtomConf	getDefaultAtomConf ()
Public Attributes
AtomConf	atomconf
Classes
class	connectionAddition

Detailed Description

AtomComponent.

Constructor & Destructor Documentation

AtomComponent	(	const OdeHandle &	odeHandle,
		const OsgHandle &	osgHandle,
		const ComponentConf &	conf,
		const AtomConf &	aconf
	)

~AtomComponent ( )

Member Function Documentation

bool collisionCallback	(	void *	data,
		dGeomID	o1,
		dGeomID	o2
	)			`[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 Component.

bool collisionExclusionCondition	(	dGeomID	o1,
		dGeomID	o2
	)			`[virtual]`

Test which collisions should not be handled.

Parameters:

	Geom	reference to the first atom
	Geom	reference to the second atom

Returns:: true if fulfilled false if not

AtomComponent * copyBaseStructure	(	osg::Vec3	deltaposition,
		std::vector< TableLine > &	copytable
	)			`[virtual]`

AtomComponent * copyCompleteStructure	(	osg::Vec3	deltaposition,
		AtomComponent *	copystartcomponent
	)			`[virtual]`

AtomComponent * copySoftlinkStructure ( std::vector< TableLine > & copytable ) [virtual]

void deleteStructureRecursive ( ) [virtual]

void disableStructureFusionRecursive ( ) [virtual]

Sets all teh fusionDisable parameters of the structure belonging to THIS atom to true, so that no fusion will occur.

void doInternalStuff ( GlobalData & globalData ) [virtual]

this function is called in each timestep after control.

It should perform robot-internal checks and actions, like acting and sensing of internal motors/sensors etc.

Parameters:

globalData

structure that contains global data from the simulation environment

Implements OdeRobot.

void enableStructureFusionRecursive ( ) [virtual]

Sets all teh fusionDisable parameters of the structure belonging to THIS atom to false, so that fusion will occur.

bool fission ( double force ) [virtual]

fissions a AtomComponent from this AtomComponent

Parameters:

the

AtomComponent, to fission true if the fission was successfull, false if not

bool fissionCondition	(	dGeomID	o1,
		dGeomID	o2,
		double	force
	)			`[virtual]`

now fission is allowed if there is a single connection, with a binding energy smaller than the force of the colission, but the minimum value for fission from atomconf has to be reached

Parameters:

	Geom	reference to the first atom
	Geom	reference to the second atom

Returns:: true if fulfilled false if not

void fissionOf ( componentConnection * tmpconnection ) [virtual]

bool fusion ( AtomComponent * atom_to_fuse ) [virtual]

fuses this AtomComponent with an other one

Parameters:

the

AtomComponent, to fuse with true if the fusion was successfull, false if not

bool fusionCondition	(	dGeomID	o1,
		dGeomID	o2
	)			`[virtual]`

Tests if the conditions for fusion of two atoms are fulfilled.

Parameters:

	Geom	reference to the first atom
	Geom	reference to the second atom

Returns:: true if fulfilled false if not

double getCollisionForce ( AtomComponent * collAtom ) [virtual]

Calculates the linear force between two components at the moment of calling this function.

Returns:: force (masses*linear velocity of both atoms)

double getConnectionFitness ( AtomComponent * searchedsubcomponent ) [virtual]

double getConnectionFitness ( unsigned int number ) [virtual]

AtomComponent * getCopyOutofTable ( std::vector< TableLine > & table ) [virtual]

static AtomConf getDefaultAtomConf ( ) [inline, static]

AtomComponent * getLeastFittestDivideComponent	(	int	minsize,
		AtomComponent *	currentBestDivideComponent
	)			`[virtual]`

Primitive * getMainPrimitive ( ) const [virtual]

Returns:: reference to the simple Primitive, or to the main Primitive of the robot assigend to the component. If nothimng is assigned, NULL is returned.

Implements Component.

double getMotionForce ( ) [virtual]

Calculates the linear force the Component has at the time of calling this function.

Returns:: force (mass*linear velocity)

int getMotorNumber ( ) [virtual]

returns number of motors; recursivly adding of the number of sensors all subcomponents; at the moment only counts Hinge-, Slider-, Hinge2 and Universal-Joints; The Motor-Numbers of the robots of the Components is not counted.

Returns:: number of motors of the component and all its subcomponents

Reimplemented from Component.

Position getPosition ( ) const [virtual]

returns position of the object

Returns:: vector of position (x,y,z)

Implements Component.

osg::Vec3 getPositionbetweenComponents ( Component * component ) [virtual]

This is only a simple function, calculating the coordinates of the point exactly between two directly connected components.

Returns:: Vector containing the Position

Parameters:

index

number of the position

Reimplemented from Component.

int getSensorNumber ( ) [virtual]

Returns number of sensors; recursivly adding of the number of sensors all subcomponents and the robots of all Subcomponents.

Returns:: number of sensors of the component and all its subcomponents

Reimplemented from Component.

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

Use this, to get all sensor values of all the joints of all subcomponents, and the sensors of all robots, belonging to all subcomponents.

The sensor values have the following sequence: values of the component connecting joints, values of the robot of the component, values of component connecting joints of the first subcomponent, values of the robot of the first subcomponent, ...

Parameters:

robot

sensor values of the connecting joints of this component and all subcomponents

!!!!!!!!!!!!!

Reimplemented from Component.

AtomComponent::componentConnection * getStrongestSoftlinkofStructure ( ) [virtual]

Searches for the softlink in the substructure of THIS component which has the highest binding strength.

Returns:: the softlink connection within the substructure of THIS component.

double getStructureFitness ( ) [virtual]

void makeComponentStructureRoot ( ) [virtual]

This changes the structure of all components connected with this component, so that this component will become the new root of this structure.

void place ( const osg::Matrix & pose ) [virtual]

sets the pose of the vehicle

Parameters:

pose

desired 4x4 pose matrix

Implements OdeRobot.

void place ( const Pos & pos ) [virtual]

sets the vehicle to position pos

Parameters:

pos

desired position of the robot

Implements Component.

bool replication ( AtomComponent * atom_to_recplicate ) [virtual]

Replication.

They have to belong to two robots, so that touching each ofer causes a crossing over in her structure.

Parameters:

the

AtomComponent which belongs to the structure to replicate with, and which is the point where the replication will happen

Returns:: true if replication was successfull, else false

bool replication_old ( AtomComponent * atom_to_recplicate ) [virtual]

Replication.

void setConnectionFitness	(	unsigned int	number,
		double	value
	)			`[virtual]`

void setConnectionFitnessAll ( double value ) [virtual]

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

Sets the motor values for the joints connecting the component with its subcomponents, an recursivly the joints of all subComponents.

Parameters:

Reimplemented from Component.

bool shellCollision	(	dGeomID	o1,
		dGeomID	o2
	)			`[virtual]`

void update ( ) [virtual]

update the OSG notes here

Implements Component.

void updateConnectionFitnessAll ( AbstractController * controller ) [virtual]

Member Data Documentation

AtomConf atomconf

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

Generated on Fri Oct 30 16:29:03 2009 for Robot Simulator of the Robotics Group for Self-Organization of Control by

1.4.7

AtomComponent Class Reference

Public Member Functions

Static Public Member Functions

Public Attributes

Classes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation