SchlangeVelocity Class Reference

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

#include <schlangevelocity.h>

Inherits Schlange.

Inheritance diagram for SchlangeVelocity:

[legend]Collaboration diagram for SchlangeVelocity:

[legend]List of all members.

Public Member Functions
	SchlangeVelocity (const OdeHandle &odeHandle, const OsgHandle &osgHandle, const SchlangeConf &conf, const std::string &name)
virtual	~SchlangeVelocity ()
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
Static Public Member Functions
static SchlangeConf	getDefaultConf ()

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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 directly setting the angular velocities of the joints

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Constructor & Destructor Documentation

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

~SchlangeVelocity

(

)

[virtual]

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Member Function Documentation

static SchlangeConf getDefaultConf

(

)

[inline, static]

Reimplemented from Schlange.

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:

• schlangevelocity.h
• schlangevelocity.cpp

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