Formel1 Class Reference

Robot that looks like a Nimm 2 Bonbon :-) 4 wheels and a capsule like body. More...

#include <formel1.h>

Inherits OdeRobot.

Inheritance diagram for Formel1:

[legend]Collaboration diagram for Formel1:

[legend]List of all members.

Public Member Functions
	Formel1 (const OdeHandle &odeHandle, const OsgHandle &osgHandle, double size=1, double force=3, double speed=15, bool sphereWheels=true)
virtual	~Formel1 ()
virtual void	update ()
	updates the osg notes
virtual void	place (const osg::Matrix &pose)
	sets the pose of the vehicle
virtual int	getSensors (sensor *sensors, int sensornumber)
	returns actual sensorvalues
virtual void	setMotors (const motor *motors, int motornumber)
	sets actual motorcommands
virtual int	getSensorNumber ()
	returns number of sensors
virtual int	getMotorNumber ()
	returns number of motors
virtual bool	collisionCallback (void *data, dGeomID o1, dGeomID o2)
	checks for internal collisions and treats them.
virtual void	doInternalStuff (GlobalData &globalData)
	this function is called in each timestep.
Protected Member Functions
virtual Primitive *	getMainPrimitive () const
	the main object of the robot, which is used for position and speed tracking
virtual void	create (const osg::Matrix &pose)
	creates vehicle at desired position
virtual void	destroy ()
	destroys vehicle and space
Static Protected Member Functions
static void	mycallback (void *data, dGeomID o1, dGeomID o2)
	things for collision handling inside the space of the robot can be done here
Protected Attributes
double	length
double	width
double	height
double	radius
double	wheelthickness
bool	sphereWheels
double	cmass
double	wmass
int	sensorno
int	motorno
int	segmentsno
double	speed
double	max_force
bool	created
Primitive *	object [5]
Hinge2Joint *	joint [4]

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Detailed Description

Robot that looks like a Nimm 2 Bonbon :-) 4 wheels and a capsule like body.

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Constructor & Destructor Documentation

Formel1	(	const OdeHandle &	odeHandle,
		const OsgHandle &	osgHandle,
		double	size = 1,
		double	force = 3,
		double	speed = 15,
		bool	sphereWheels = true
	)

virtual ~Formel1

(

)

[inline, virtual]

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Member Function Documentation

bool collisionCallback	(	void *	data,
		dGeomID	o1,
		dGeomID	o2
	)			[virtual]

checks for internal collisions and treats them.

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]

creates vehicle at desired position

Parameters:

pose

4x4 pose matrix

void destroy

(

)

[protected, virtual]

destroys vehicle and space

void doInternalStuff

(

GlobalData &

globalData

)

[virtual]

this function is called in each timestep.

It should perform robot-internal checks, like space-internal collision detection, sensor resets/update etc.

Parameters:

globalData

structure that contains global data from the simulation environment

Implements OdeRobot.

virtual Primitive* getMainPrimitive

(

)

const [inline, protected, virtual]

the main object of the robot, which is used for position and speed tracking

Implements OdeRobot.

virtual int getMotorNumber

(

)

[inline, virtual]

returns number of motors

Implements AbstractRobot.

virtual int getSensorNumber

(

)

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

things for collision handling inside the space of the robot can be done here

void place

(

const osg::Matrix &

pose

)

[virtual]

sets the pose of the vehicle

Parameters:

pose

desired 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]

updates the osg notes

Implements OdeRobot.

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Member Data Documentation

double cmass [protected]

bool created [protected]

double height [protected]

Hinge2Joint* joint[4] [protected]

double length [protected]

double max_force [protected]

int motorno [protected]

Primitive* object[5] [protected]

double radius [protected]

int segmentsno [protected]

int sensorno [protected]

double speed [protected]

bool sphereWheels [protected]

double wheelthickness [protected]

double width [protected]

double wmass [protected]

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

• formel1.h
• formel1.cpp

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