SliderWheelie Class Reference

This is a class, which models an annular robot. More...

#include <sliderwheelie.h>

Inherits OdeRobot.

Inheritance diagram for SliderWheelie:

[legend]Collaboration diagram for SliderWheelie:

[legend]List of all members.

Public Member Functions
	SliderWheelie (const OdeHandle &odeHandle, const OsgHandle &osgHandle, const SliderWheelieConf &conf, const std::string &name, const std::string &revision="")
virtual	~SliderWheelie ()
virtual void	place (const osg::Matrix &pose)
	sets the pose of the vehicle
virtual void	update ()
	update the OSG notes here
void	doInternalStuff (GlobalData &global)
	this function is called in each timestep after control.
bool	collisionCallback (void *data, dGeomID o1, dGeomID o2)
virtual void	setMotors (const motor *motors, int motornumber)
	sets actual motorcommands
virtual int	getSensors (sensor *sensors, int sensornumber)
	returns actual sensorvalues
virtual int	getSensorNumber ()
	returns number of sensors
virtual int	getMotorNumber ()
	returns number of motors
virtual Primitive *	getMainPrimitive () const
	return the primitive of the robot that is used for tracking and camera following
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)
Static Public Member Functions
static SliderWheelieConf	getDefaultConf ()

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Detailed Description

This is a class, which models an annular robot.

It consists of a number of equal elements, each linked by a joint powered by 1 servo

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Constructor & Destructor Documentation

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

~SliderWheelie

(

)

[virtual]

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Member Function Documentation

bool collisionCallback	(	void *	data,
		dGeomID	o1,
		dGeomID	o2
	)			[virtual]

Deprecated:

Do not use it anymore, collision control is done automatically. 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 &

global

)

[virtual]

this function is called in each timestep after control.

It should perform robot-internal checks and actions, like acting and sensing of internal motors/sensors etc.

Parameters:

globalData

structure that contains global data from the simulation environment

Implements OdeRobot.

static SliderWheelieConf getDefaultConf

(

)

[inline, static]

virtual Primitive* getMainPrimitive

(

)

const [inline, virtual]

return the primitive of the robot that is used for tracking and camera following

Implements OdeRobot.

virtual int getMotorNumber

(

)

[inline, 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.

Returns:

list of parameters

Reimplemented from Configurable.

virtual int getSensorNumber

(

)

[inline, 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 OSG notes here

Implements OdeRobot.

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

• sliderwheelie.h
• sliderwheelie.cpp

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