#include <discus.h>
Collaboration diagram for DiscusConf:
Public Member Functions | |
| void | destroy () |
| function that deletes sensors | |
| void | addSensor (Sensor *s) |
| adds a sensor to the list of sensors | |
Public Attributes | |
| double | diameter |
| double | relativewidth |
| double | stabdiameter |
| diameter of capsule relative to diameter of body | |
| unsigned int | numAxes |
| number of axes with moving masses | |
| double | spheremass |
| double | pendulardiameter |
| automatically set | |
| double | pendularmass |
| double | motorpowerfactor |
| power factor for servos w.r.t. pendularmass | |
| double | pendularrange |
| fraction of the diameter the pendular masses can move to one side | |
| double | pendularrangeN |
| fraction of the diameter the normal pendular masses can move to one side | |
| bool | motorsensor |
| motor values as sensors | |
| bool | irAxis1 |
| bool | irAxis2 |
| bool | irAxis3 |
| bool | irRing |
| IR sensors in a ring in x,z plane (collides with irAxis1 and irAxis3). | |
| bool | irSide |
| 4 IR senors to both side in y direction (collides with irAxis2) | |
| bool | drawIRs |
| double | irsensorscale |
| range of the ir sensors in units of diameter | |
| double | irCharacter |
| characteristics of sensor (
| |
| RaySensor * | irSensorTempl |
| template for creation of the other ir sensors (if 0 then IRSensor(irCharacter)) | |
| double | motor_ir_before_sensors |
| if true motor sensors and ir sensors are given before additional sensors | |
| double | brake |
| if nonzero the robot brakes (deaccelerates actively/magically) (velocity dependend torque) | |
| std::list< Sensor * > | sensors |
| list of sensors that are mounted at the robot. (e.g. AxisOrientationSensor) | |
| void addSensor | ( | Sensor * | s | ) | [inline] |
adds a sensor to the list of sensors
| void destroy | ( | ) |
function that deletes sensors
| double brake |
if nonzero the robot brakes (deaccelerates actively/magically) (velocity dependend torque)
| double diameter |
| bool drawIRs |
| bool irAxis1 |
| bool irAxis2 |
| bool irAxis3 |
| double irCharacter |
characteristics of sensor (
![\[ x^c \]](form_31.png)
where x is the range-distance)
| bool irRing |
IR sensors in a ring in x,z plane (collides with irAxis1 and irAxis3).
| double irsensorscale |
range of the ir sensors in units of diameter
template for creation of the other ir sensors (if 0 then IRSensor(irCharacter))
| bool irSide |
4 IR senors to both side in y direction (collides with irAxis2)
| double motor_ir_before_sensors |
if true motor sensors and ir sensors are given before additional sensors
| double motorpowerfactor |
power factor for servos w.r.t. pendularmass
| bool motorsensor |
motor values as sensors
| unsigned int numAxes |
number of axes with moving masses
| double pendulardiameter |
automatically set
| double pendularmass |
| double pendularrange |
fraction of the diameter the pendular masses can move to one side
| double pendularrangeN |
fraction of the diameter the normal pendular masses can move to one side
| double relativewidth |
list of sensors that are mounted at the robot. (e.g. AxisOrientationSensor)
| double spheremass |
| double stabdiameter |
diameter of capsule relative to diameter of body
1.4.7