OdeAgent Class Reference

Specialised agent for ode robots. More...

#include <odeagent.h>

Inherits Agent.

Inheritance diagram for OdeAgent:

[legend]Collaboration diagram for OdeAgent:

[legend]List of all members.

Public Member Functions
	OdeAgent (const PlotOption &plotOption=PlotOption(NoPlot), double noisefactor=1)
	constructor
	OdeAgent (const std::list< PlotOption > &plotOptions, double noisefactor=1)
	OdeAgent (const GlobalData &globalData, double noisefactor=1)
virtual	~OdeAgent ()
	destructor
virtual bool	init (AbstractController *controller, OdeRobot *robot, AbstractWiring *wiring, long int seed=0)
	initializes the object with the given controller, robot and wiring and initializes pipe to guilogger
virtual void	step (double noise, double time)
	Performs an step of the agent, including sensor reading, pushing sensor values through the wiring, controller step, pushing controller outputs (= motorcommands) back through the wiring and sent resulting motorcommands to robot.
virtual void	stepOnlyWiredController (double noise, double time)
	Special function for the class Simulation to seperate the step of the WiredController (plus TrackRobot) and the setting and getting of the motor- and sensorvalues.
virtual void	setMotorsGetSensors ()
	Special function for the class Simulation to seperate the step of the WiredController (plus TrackRobot) and the setting and getting of the motor- and sensorvalues.
void	internInit ()
virtual OdeRobot *	getRobot ()
	Returns a pointer to the robot.
virtual int	getTraceLength ()
	gives the number of past robot positions shown as trace in osg
virtual void	init_tracing (int tracelength=1000, double tracethickness=0.05)
	initialize tracing in ode
virtual void	trace ()
	continues the trace by one segment

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Detailed Description

Specialised agent for ode robots.

Examples:

template_sphererobot/main.cpp.

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Constructor & Destructor Documentation

OdeAgent	(	const PlotOption &	plotOption = PlotOption(NoPlot),
		double	noisefactor = 1
	)			[inline]

constructor

OdeAgent	(	const std::list< PlotOption > &	plotOptions,
		double	noisefactor = 1
	)			[inline]

OdeAgent	(	const GlobalData &	globalData,
		double	noisefactor = 1
	)

virtual ~OdeAgent

(

)

[inline, virtual]

destructor

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Member Function Documentation

virtual OdeRobot* getRobot

(

)

[inline, virtual]

Returns a pointer to the robot.

Reimplemented from Agent.

virtual int getTraceLength

(

)

[inline, virtual]

gives the number of past robot positions shown as trace in osg

virtual bool init	(	AbstractController *	controller,
		OdeRobot *	robot,
		AbstractWiring *	wiring,
		long int	seed = 0
	)			[inline, virtual]

initializes the object with the given controller, robot and wiring and initializes pipe to guilogger

Examples:

template_sphererobot/main.cpp.

void init_tracing	(	int	tracelength = 1000,
		double	tracethickness = 0.05
	)			[virtual]

initialize tracing in ode

Parameters:

	tracelength	number of past positions shown as trace in osg
	tracethickness	thickness of the trace

void internInit

(

)

[inline]

Reimplemented from WiredController.

void setMotorsGetSensors

(

)

[virtual]

Special function for the class Simulation to seperate the step of the WiredController (plus TrackRobot) and the setting and getting of the motor- and sensorvalues.

void step	(	double	noise,
		double	time
	)			[virtual]

Performs an step of the agent, including sensor reading, pushing sensor values through the wiring, controller step, pushing controller outputs (= motorcommands) back through the wiring and sent resulting motorcommands to robot.

Parameters:

	noise	Noise strength.
	time	(optional) current simulation time (used for logging)

Reimplemented from Agent.

void stepOnlyWiredController	(	double	noise,
		double	time
	)			[virtual]

Special function for the class Simulation to seperate the step of the WiredController (plus TrackRobot) and the setting and getting of the motor- and sensorvalues.

Parameters:

	noise@see	step()
	time@see	step()

void trace

(

)

[virtual]

continues the trace by one segment

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

• odeagent.h
• odeagent.cpp

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