Sphererobot3MassesConf Struct Reference

configuration object for the Sphererobot3Masses robot. More...

#include <sphererobot3masses.h>

Collaboration diagram for Sphererobot3MassesConf:

[legend]List of all members.

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	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
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 ( where x is the range-distance)
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)
std::list< Sensor * >	sensors
	list of sensors that are mounted at the robot. (e.g. AxisOrientationSensor)

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Detailed Description

configuration object for the Sphererobot3Masses robot.

Examples:

template_sphererobot/main.cpp.

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Member Function Documentation

void addSensor

(

Sensor *

s

)

[inline]

adds a sensor to the list of sensors

Examples:

template_sphererobot/main.cpp.

void destroy

(

)

function that deletes sensors

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Member Data Documentation

double brake

if nonzero the robot brakes (deaccelerates actively/magically)

double diameter

Examples:

template_sphererobot/main.cpp.

bool drawIRs

bool irAxis1

bool irAxis2

bool irAxis3

double irCharacter

characteristics of sensor (

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

RaySensor* irSensorTempl

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

double pendulardiameter

automatically set

double pendularmass

double pendularrange

fraction of the diameter the pendular masses can move to one side

Examples:

template_sphererobot/main.cpp.

std::list<Sensor*> sensors

list of sensors that are mounted at the robot. (e.g. AxisOrientationSensor)

double spheremass

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

• sphererobot3masses.h
• sphererobot3masses.cpp

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