Barrel2Masses Class Reference

A barrel-like robot with 2 internal masses, which can slide on their orthogonal axes. More...

#include <barrel2masses.h>

Inherits Sphererobot3Masses.

Inheritance diagram for Barrel2Masses:

[legend]Collaboration diagram for Barrel2Masses:

[legend]List of all members.

Public Member Functions
	Barrel2Masses (const OdeHandle &odeHandle, const OsgHandle &osgHandle, const Sphererobot3MassesConf &conf, const std::string &name, double transparency=0.5)
	constructor
virtual	~Barrel2Masses ()
virtual int	getSensors (sensor *sensors, int sensornumber)
	Writes the sensor values to an array in the memory.
Static Public Member Functions
static Sphererobot3MassesConf	getDefaultConf ()
	default configuration.
Protected Member Functions
virtual void	create (const osg::Matrix &pose)
	The cylinder (main body) lies on the ground, that it is rotating about the z-axis.

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Detailed Description

A barrel-like robot with 2 internal masses, which can slide on their orthogonal axes.

It is the small brother of the Sphererobot3Masses. This robot was inspired by Julius Popp (http://sphericalrobots.com)

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Constructor & Destructor Documentation

Barrel2Masses	(	const OdeHandle &	odeHandle,
		const OsgHandle &	osgHandle,
		const Sphererobot3MassesConf &	conf,
		const std::string &	name,
		double	transparency = 0.5
	)

constructor

It is configured with the configuration object of Sphererobot3Masses. Just two of the 3 axis are used. The worldZaxissensor and irAxis3 has no meaning here.

~Barrel2Masses

(

)

[virtual]

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Member Function Documentation

void create

(

const osg::Matrix &

pose

)

[protected, virtual]

The cylinder (main body) lies on the ground, that it is rotating about the z-axis.

Reimplemented from Sphererobot3Masses.

static Sphererobot3MassesConf getDefaultConf

(

)

[inline, static]

default configuration.

It has no sensors. Use addSensor(new AxisOrientationSensor(ZProjectionXY) for example.

Reimplemented from Sphererobot3Masses.

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

Writes the sensor values to an array in the memory.

Parameters:

	sensor*	pointer to the array
	sensornumber	length of the sensor array

Returns:

number of actually written sensors

Reimplemented from Sphererobot3Masses.

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

• barrel2masses.h
• barrel2masses.cpp

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