HurlingSnake Class Reference

Hurling snake is a string a beats. More...

#include <hurlingsnake.h>

Inherits OdeRobot.

Inheritance diagram for HurlingSnake:

[legend]Collaboration diagram for HurlingSnake:

[legend]List of all members.

Public Member Functions
	HurlingSnake (const OdeHandle &odeHandle, const OsgHandle &osgHandle, const std::string &name)
	Constructor.
virtual void	update ()
	update the subcomponents
virtual void	place (const osg::Matrix &pose)
	sets the pose of the vehicle
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.
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 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)
Protected Member Functions
virtual Primitive *	getMainPrimitive () const
	the main object of the robot, which is used for position and speed tracking

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Detailed Description

Hurling snake is a string a beats.

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Constructor & Destructor Documentation

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

Constructor.

Parameters:

	w	world in which robot should be created
	s	space in which robot should be created
	c	contactgroup for collision treatment

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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 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.

int getMotorNumber

(

)

[virtual]

returns number of motors

Implements AbstractRobot.

Configurable::paramval getParam

(

const paramkey &

key

)

const [virtual]

Configurable::paramlist getParamList

(

)

const [virtual]

The list of all parameters with there value as allocated 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

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.

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

void update

(

)

[virtual]

update the subcomponents

Implements OdeRobot.

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

• hurlingsnake.h
• hurlingsnake.cpp

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