Uwo Class Reference

UWO: Unknown Walk Object :-), looks like a plate with a lot of legs. More...

#include <uwo.h>

Inherits OdeRobot.

Inheritance diagram for Uwo:

[legend]Collaboration diagram for Uwo:

[legend]List of all members.

Public Member Functions
	Uwo (const OdeHandle &odeHandle, const OsgHandle &osgHandle, const UwoConf &conf, const std::string &name)
	constructor of uwo robot
virtual	~Uwo ()
virtual void	update ()
	updates the osg notes
virtual void	place (const osg::Matrix &pose)
	sets the pose of the vehicle
virtual int	getSensors (sensor *sensors, int sensornumber)
	returns actual sensorvalues
virtual void	setMotors (const motor *motors, int motornumber)
	sets actual motorcommands
virtual int	getSensorNumber ()
	returns number of sensors
virtual int	getMotorNumber ()
	returns number of motors
virtual bool	collisionCallback (void *data, dGeomID o1, dGeomID o2)
	checks for internal collisions and treats them.
virtual void	doInternalStuff (GlobalData &globalData)
	this function is called in each timestep.
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 UwoConf	getDefaultConf ()
Protected Member Functions
virtual Primitive *	getMainPrimitive () const
	the main object of the robot, which is used for position and speed tracking
virtual void	create (const osg::Matrix &pose)
	creates vehicle at desired position
virtual void	destroy ()
	destroys vehicle and space
Protected Attributes
UwoConf	conf
double	legmass
bool	created
std::vector< Primitive * >	objects
std::vector< Joint * >	joints
std::vector< UniversalServo * >	servos

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Detailed Description

UWO: Unknown Walk Object :-), looks like a plate with a lot of legs.

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Constructor & Destructor Documentation

Uwo	(	const OdeHandle &	odeHandle,
		const OsgHandle &	osgHandle,
		const UwoConf &	conf,
		const std::string &	name
	)

constructor of uwo robot

Parameters:

	odeHandle	data structure for accessing ODE
	osgHandle	ata structure for accessing OSG
	size	scaling of robot
	force	maximal used force to realize motorcommand
	radialLegs	switches between cartensian and radial leg joints

virtual ~Uwo

(

)

[inline, virtual]

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Member Function Documentation

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

checks for internal collisions and treats them.

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 create

(

const osg::Matrix &

pose

)

[protected, virtual]

creates vehicle at desired position

Parameters:

pose

4x4 pose matrix

void destroy

(

)

[protected, virtual]

destroys vehicle and space

void doInternalStuff

(

GlobalData &

globalData

)

[virtual]

this function is called in each timestep.

It should perform robot-internal checks, like space-internal collision detection, sensor resets/update etc.

Parameters:

globalData

structure that contains global data from the simulation environment

Implements OdeRobot.

static UwoConf getDefaultConf

(

)

[inline, static]

virtual Primitive* getMainPrimitive

(

)

const [inline, protected, virtual]

the main object of the robot, which is used for position and speed tracking

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.

Parameters:

keylist,vallist

will be allocated with malloc (free it after use!)

Returns:

length of the lists

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 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]

updates the osg notes

Implements OdeRobot.

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Member Data Documentation

UwoConf conf [protected]

bool created [protected]

std::vector<Joint*> joints [protected]

double legmass [protected]

std::vector<Primitive*> objects [protected]

std::vector<UniversalServo*> servos [protected]

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

• uwo.h
• uwo.cpp

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