CaterPillar Class Reference

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

#include <caterpillar.h>

Inherits DefaultCaterPillar.

Inheritance diagram for CaterPillar:

[legend]Collaboration diagram for CaterPillar:

[legend]List of all members.

Public Member Functions
	CaterPillar (const OdeHandle &odeHandle, const OsgHandle &osgHandle, const CaterPillarConf &conf, const std::string &name)
virtual	~CaterPillar ()
virtual void	setMotors (const motor *motors, int motornumber)
	Reads the actual motor commands from an array, and sets all motors (forces) of the snake to this values.
virtual int	getSensors (sensor *sensors, int sensornumber)
	Writes the sensor values to an array in the memory.
virtual int	getSensorNumber ()
	returns number of sensors
virtual int	getMotorNumber ()
	returns number of motors
virtual bool	setParam (const paramkey &key, paramval val)

---

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 powered by 2 servos

---

Constructor & Destructor Documentation

CaterPillar	(	const OdeHandle &	odeHandle,
		const OsgHandle &	osgHandle,
		const CaterPillarConf &	conf,
		const std::string &	name
	)

~CaterPillar

(

)

[virtual]

---

Member Function Documentation

virtual int getMotorNumber

(

)

[inline, virtual]

returns number of motors

Implements DefaultCaterPillar.

virtual int getSensorNumber

(

)

[inline, virtual]

returns number of sensors

Implements DefaultCaterPillar.

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 DefaultCaterPillar.

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

Reads the actual motor commands from an array, and sets all motors (forces) 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 DefaultCaterPillar.

bool setParam	(	const paramkey &	key,
		paramval	val
	)			[virtual]

Reimplemented from DefaultCaterPillar.

---

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

• caterpillar.h
• caterpillar.cpp

---