DefaultWheelie Class Reference

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

#include <defaultWheelie.h>

Inherits OdeRobot.

Inherited by Wheelie.

Inheritance diagram for DefaultWheelie:

[legend]Collaboration diagram for DefaultWheelie:

[legend]List of all members.

Public Member Functions
	DefaultWheelie (const OdeHandle &odeHandle, const OsgHandle &osgHandle, const WheelieConf &conf, const std::string &name, const std::string &revision)
virtual	~DefaultWheelie ()
virtual void	place (const osg::Matrix &pose)
	sets the pose of the vehicle
virtual void	update ()
	update all primitives and joints
virtual bool	collisionCallback (void *data, dGeomID o1, dGeomID o2)
	This is the collision handling function for snake robots.
virtual void	doInternalStuff (GlobalData &global)
	this function is called in each timestep after control.
virtual void	setMotors (const motor *motors, int motornumber)=0
	Reads the actual motor commands from an array, an sets all motors of the snake to this values.
virtual int	getSensors (sensor *sensors, int sensornumber)=0
	Writes the sensor values to an array in the memory.
virtual int	getSensorNumber ()=0
	returns number of sensors
virtual int	getMotorNumber ()=0
	returns number of motors
virtual int	getSegmentsPosition (std::vector< Position > &poslist)
	returns a vector with the positions of all segments of the robot
virtual paramlist	getParamList () const
	The list of all parameters with there value as allocated lists.
virtual paramval	getParam (const paramkey &key) const
virtual bool	setParam (const paramkey &key, paramval val)
virtual Primitive *	getMainPrimitive () const
	the main object of the robot, which is used for position and speed tracking
Static Public Member Functions
static WheelieConf	getDefaultConf ()
static void	mycallback (void *data, dGeomID o1, dGeomID o2)
Protected Member Functions
virtual void	create (const osg::Matrix &pose)
	creates vehicle at desired position
virtual void	destroy ()
	destroys vehicle and space
Protected Attributes
bool	created
std::vector< Primitive * >	objects
std::vector< Joint * >	joints
std::vector< AngularMotor * >	frictionmotors
WheelieConf	conf

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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

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Constructor & Destructor Documentation

DefaultWheelie	(	const OdeHandle &	odeHandle,
		const OsgHandle &	osgHandle,
		const WheelieConf &	conf,
		const std::string &	name,
		const std::string &	revision
	)

~DefaultWheelie

(

)

[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 &

global

)

[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.

static WheelieConf 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.

virtual int getMotorNumber

(

)

[pure virtual]

returns number of motors

Implements AbstractRobot.

Implemented in Wheelie.

Configurable::paramval getParam

(

const paramkey &

key

)

const [virtual]

Configurable::paramlist getParamList

(

)

const [virtual]

The list of all parameters with there value as allocated lists.

Returns:

length of the lists

Reimplemented from Configurable.

int getSegmentsPosition

(

std::vector< Position > &

poslist

)

[virtual]

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

Parameters:

poslist

vector of positions (of all robot segments)

Returns:

length of the list

virtual int getSensorNumber

(

)

[pure virtual]

returns number of sensors

Implements AbstractRobot.

Implemented in Wheelie.

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

Implemented in Wheelie.

void mycallback	(	void *	data,
		dGeomID	o1,
		dGeomID	o2
	)			[static]

void place

(

const osg::Matrix &

pose

)

[virtual]

sets the pose of the vehicle

Parameters:

pose

desired 4x4 pose matrix

Implements OdeRobot.

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

Implemented in Wheelie.

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

Reimplemented in Wheelie.

void update

(

)

[virtual]

update all primitives and joints

Implements OdeRobot.

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Member Data Documentation

WheelieConf conf [protected]

bool created [protected]

std::vector<AngularMotor*> frictionmotors [protected]

std::vector<Joint*> joints [protected]

std::vector<Primitive*> objects [protected]

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

• defaultWheelie.h
• defaultWheelie.cpp

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