SchlangeServo Class Reference

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

#include <schlangeservo.h>

Inherits Schlange.

Inheritance diagram for SchlangeServo:

[legend]Collaboration diagram for SchlangeServo:

[legend]List of all members.

Public Member Functions
	SchlangeServo (const OdeHandle &odeHandle, const OsgHandle &osgHandle, const SchlangeConf &conf, const std::string &name, const std::string &revision="")
virtual	~SchlangeServo ()
virtual void	setMotors (const motor *motors, int motornumber)
	Reads the actual motor commands from an array, an 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
virtual bool	setParam (const paramkey &key, paramval val)

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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 hinge powered by 1 servos

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Constructor & Destructor Documentation

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

~SchlangeServo

(

)

[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, an 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.

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

Reimplemented from Schlange.

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

• schlangeservo.h
• schlangeservo.cpp

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