SchlangeForce Class Reference

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

#include <schlangeforce.h>

Inherits Schlange.

Inheritance diagram for SchlangeForce:

[legend]Collaboration diagram for SchlangeForce:

[legend]List of all members.

Public Member Functions
	SchlangeForce (const OdeHandle &odeHandle, const OsgHandle &osgHandle, const SchlangeConf &conf, const std::string &name, const std::string &revision)
virtual	~SchlangeForce ()
virtual void	setMotors (const motor *motors, int motornumber)
	Reads the actual motor commands from an array, and sets all motors (forces) of the snake to this values.
virtual int	getSensors (sensor *sensors, int sensornumber)
	Writes the sensor values to an array in the memory.
virtual int	getSensorNumber ()
	returns number of sensors
virtual int	getMotorNumber ()
	returns number of motors

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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 powered by torques added to joints

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Constructor & Destructor Documentation

SchlangeForce	(	const OdeHandle &	odeHandle,
		const OsgHandle &	osgHandle,
		const SchlangeConf &	conf,
		const std::string &	name,
		const std::string &	revision
	)

~SchlangeForce

(

)

[virtual]

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Member Function Documentation

virtual int getMotorNumber

(

)

[inline, virtual]

returns number of motors

Implements Schlange.

virtual int getSensorNumber

(

)

[inline, virtual]

returns number of sensors

Implements Schlange.

int getSensors	(	sensor *	sensors,
		int	sensornumber
	)			[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 Schlange.

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

Reads the actual motor commands from an array, and sets all motors (forces) 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 Schlange.

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

• schlangeforce.h
• schlangeforce.cpp

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