VierBeiner Class Reference

robot that should look like a dog More...

#include <vierbeiner.h>

Inherits OdeRobot.

Inheritance diagram for VierBeiner:

[legend]Collaboration diagram for VierBeiner:

[legend]List of all members.

Public Member Functions
	VierBeiner (const OdeHandle &odeHandle, const OsgHandle &osgHandle, const VierBeinerConf &conf, const std::string &name)
	constructor of VierBeiner robot
virtual	~VierBeiner ()
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)
virtual Primitive *	getMainPrimitive () const
	the main object of the robot, which is used for position and speed tracking
Static Public Member Functions
static VierBeinerConf	getDefaultConf ()
Protected Member Functions
virtual void	create (const osg::Matrix &pose)
	creates vehicle at desired position
virtual void	destroy ()
	destroys vehicle and space
Protected Attributes
VierBeinerConf	conf
double	legmass
bool	created
Primitive *	trunk
Primitive *	headtrans
Primitive *	bigboxtransform
Primitive *	neck
Primitive *	tail
std::vector< Primitive * >	objects
std::vector< Joint * >	joints
std::vector< OneAxisServo * >	hipservos
std::vector< OneAxisServo * >	kneeservos
std::vector< OneAxisServo * >	ankleservos
std::vector< OneAxisServo * >	headtailservos

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Detailed Description

robot that should look like a dog

sensors/motors: 0: neck, 1: tail 2,3,4,5 : hip: rh, lh, rf, lf 6,7,8,9 : knee: rh, lh, rf, lf 10,11 : ankle rh, lh

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Constructor & Destructor Documentation

VierBeiner	(	const OdeHandle &	odeHandle,
		const OsgHandle &	osgHandle,
		const VierBeinerConf &	conf,
		const std::string &	name
	)

constructor of VierBeiner robot

Parameters:

	odeHandle	data structure for accessing ODE
	osgHandle	ata structure for accessing OSG
	conf	configuration object

virtual ~VierBeiner

(

)

[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

ignore collision between box on top of dog and head and also between head and body

ignore collision between box on top of dog and tail

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 VierBeinerConf getDefaultConf

(

)

[inline, static]

virtual Primitive* getMainPrimitive

(

)

const [inline, virtual]

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

Implements OdeRobot.

int getMotorNumber

(

)

[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.

Reimplemented from Configurable.

int getSensorNumber

(

)

[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

set knee servos to set point 0 (spring emulation)

set ankle servos to set point 0 (spring emulation)

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

std::vector<OneAxisServo*> ankleservos [protected]

Primitive * bigboxtransform [protected]

VierBeinerConf conf [protected]

bool created [protected]

std::vector<OneAxisServo*> headtailservos [protected]

Primitive * headtrans [protected]

std::vector<OneAxisServo*> hipservos [protected]

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

std::vector<OneAxisServo*> kneeservos [protected]

double legmass [protected]

Primitive * neck [protected]

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

Primitive * tail [protected]

Primitive* trunk [protected]

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

• vierbeiner.h
• vierbeiner.cpp

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