ForcedSphere Class Reference

#include <forcedsphere.h>

Inherits OdeRobot.

Inheritance diagram for ForcedSphere:

[legend]Collaboration diagram for ForcedSphere:

[legend]List of all members.

Public Types
	X = 1
	Y = 2
	Z = 4
enum	Dimensions { X = 1, Y = 2, Z = 4 }
Public Member Functions
	ForcedSphere (const OdeHandle &odeHandle, const OsgHandle &osgHandle, const ForcedSphereConf &ForcedSphereConf, const std::string &name)
	constructor
virtual	~ForcedSphere ()
virtual void	update ()
	update the OSG notes here
virtual void	place (const osg::Matrix &pose)
	sets the pose of the vehicle
virtual bool	collisionCallback (void *data, dGeomID o1, dGeomID o2)
virtual void	doInternalStuff (GlobalData &globalData)
	this function is called in each timestep after control.
virtual int	getSensors (sensor *sensors, int sensornumber)
	returns actual sensorvalues
virtual void	setMotors (const motor *motors, int motornumber)
	sets actual motorcommands
virtual int	getMotorNumber ()
	returns number of motors
virtual int	getSensorNumber ()
	returns number of sensors
virtual Primitive *	getMainPrimitive () const
	return the primitive of the robot that is used for tracking and camera following
Static Public Member Functions
static ForcedSphereConf	getDefaultConf ()
Protected Member Functions
virtual void	create (const osg::Matrix &pose)
virtual void	destroy ()
Protected Attributes
Primitive *	object [1]
bool	created
ForcedSphereConf	conf

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Member Enumeration Documentation

enum Dimensions

Enumerator:

X
Y
Z

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Constructor & Destructor Documentation

ForcedSphere	(	const OdeHandle &	odeHandle,
		const OsgHandle &	osgHandle,
		const ForcedSphereConf &	ForcedSphereConf,
		const std::string &	name
	)

constructor

use getDefaultConf() to obtain a configuration with default values, which can be altered to personal needs.

~ForcedSphere

(

)

[virtual]

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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 OdeRobot.

void create

(

const osg::Matrix &

pose

)

[protected, virtual]

void destroy

(

)

[protected, virtual]

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.

static ForcedSphereConf getDefaultConf

(

)

[inline, static]

virtual Primitive* getMainPrimitive

(

)

const [inline, virtual]

return the primitive of the robot that is used for tracking and camera following

Implements OdeRobot.

int getMotorNumber

(

)

[virtual]

returns number of motors

Implements AbstractRobot.

int getSensorNumber

(

)

[virtual]

returns number of sensors

Implements AbstractRobot.

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

returns actual sensorvalues

Parameters:

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

Returns:

number of actually written sensors

Implements AbstractRobot.

void place

(

const osg::Matrix &

pose

)

[virtual]

sets the pose of the vehicle

Parameters:

pose

desired 4x4 pose matrix

Implements OdeRobot.

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

sets actual motorcommands

Parameters:

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

Implements AbstractRobot.

void update

(

)

[virtual]

update the OSG notes here

Implements OdeRobot.

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Member Data Documentation

ForcedSphereConf conf [protected]

bool created [protected]

Primitive* object[1] [protected]

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

• forcedsphere.h
• forcedsphere.cpp

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