Arm2Segm Class Reference

#include <arm2segm.h>

Inheritance diagram for Arm2Segm:

[legend]Collaboration diagram for Arm2Segm:

[legend]List of all members.

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Detailed Description

Definition at line 92 of file arm2segm.h.

Public Member Functions
	Arm2Segm (const OdeHandle &odeHandle, const OsgHandle &osgHandle, const Arm2SegmConf)
virtual	~Arm2Segm ()
virtual void	update ()
	update the subcomponents
virtual void	place (const osg::Matrix &pose)
	sets the vehicle to position pos, sets color to c, and creates robot if necessary pos desired position of the robot in struct Position
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 int	getSegmentsPosition (vector< Position > &poslist)
	returns a vector with the positions of all segments of the robot
virtual Primitive *	getMainPrimitive () const
	the main object of the robot, which is used for position and speed tracking
virtual bool	collisionCallback (void *data, dGeomID o1, dGeomID o2)
	checks for internal collisions and treats them.
virtual void	doInternalStuff (const GlobalData &globalData)
	this function is called in each timestep.
virtual paramkey	getName () const
	returns the name of the object (with version number)
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 Arm2SegmConf	getDefaultConf ()
Protected Member Functions
virtual void	create (const osg::Matrix &pose)
	creates vehicle at desired position
virtual void	destroy ()
	destroys vehicle and space
Static Protected Member Functions
static void	mycallback (void *data, dGeomID o1, dGeomID o2)
Protected Attributes
dSpaceID	parentspace
Arm2SegmConf	conf
vector< Primitive * >	objects
vector< Joint * >	joints
vector< AngularMotor1Axis * >	amotors
string	name
paramval	speed
paramval	factorSensors
int	sensorno
int	motorno
bool	created

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Constructor & Destructor Documentation

Arm2Segm (  const OdeHandle &  odeHandle, const OsgHandle &  osgHandle, const   Arm2SegmConf )

Definition at line 51 of file arm2segm.cpp.

virtual ~Arm2Segm (   )  [inline, virtual]

Definition at line 97 of file arm2segm.h.

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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). Implements OdeRobot. Definition at line 175 of file arm2segm.cpp.

void create (  const osg::Matrix &  pose  )  [protected, virtual]

creates vehicle at desired position Parameters: pose  4x4 pose matrix Definition at line 212 of file arm2segm.cpp.

void destroy (   )  [protected, virtual]

destroys vehicle and space Definition at line 286 of file arm2segm.cpp.

void doInternalStuff (  const 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. Definition at line 168 of file arm2segm.cpp.

static Arm2SegmConf getDefaultConf (   )  [inline, static]

Definition at line 99 of file arm2segm.h.

Primitive * getMainPrimitive (   )  const [virtual]

the main object of the robot, which is used for position and speed tracking Implements OdeRobot. Definition at line 202 of file arm2segm.cpp.

virtual int getMotorNumber (   )  [inline, virtual]

returns number of motors Implements AbstractRobot. Definition at line 143 of file arm2segm.h.

virtual paramkey getName (   )  const [inline, virtual]

returns the name of the object (with version number) Reimplemented from Configurable. Definition at line 164 of file arm2segm.h.

Configurable::paramval getParam (  const paramkey &  key  )  const [virtual]

Definition at line 314 of file arm2segm.cpp.

Configurable::paramlist getParamList (   )  const [virtual]

The list of all parameters with there value as allocated lists. Returns: list of names Reimplemented from Configurable. Definition at line 307 of file arm2segm.cpp.

int getSegmentsPosition (  vector< Position > &  poslist  )  [virtual]

returns a vector with the positions of all segments of the robot Parameters: poslist  vector of positions (of all robot segments) Returns: length of the list Definition at line 148 of file arm2segm.cpp.

virtual int getSensorNumber (   )  [inline, virtual]

returns number of sensors Implements AbstractRobot. Definition at line 137 of file arm2segm.h.

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. Definition at line 102 of file arm2segm.cpp.

void mycallback (  void *  data, dGeomID  o1, dGeomID  o2 )  [static, protected]

Definition at line 171 of file arm2segm.cpp.

void place (  const osg::Matrix &  pose  )  [virtual]

sets the vehicle to position pos, sets color to c, and creates robot if necessary pos desired position of the robot in struct Position Parameters: pose  desired 4x4 pose matrix Implements OdeRobot. Definition at line 125 of file arm2segm.cpp.

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. Definition at line 72 of file arm2segm.cpp.

bool setParam (  const paramkey &  key, paramval  val )  [virtual]

Definition at line 320 of file arm2segm.cpp.

void update (   )  [virtual]

update the subcomponents Implements OdeRobot. Definition at line 157 of file arm2segm.cpp.

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Member Data Documentation

vector<AngularMotor1Axis*> amotors [protected]

Definition at line 195 of file arm2segm.h.

Arm2SegmConf conf [protected]

Definition at line 191 of file arm2segm.h.

bool created [protected]

Definition at line 204 of file arm2segm.h.

paramval factorSensors [protected]

Definition at line 199 of file arm2segm.h.

vector<Joint*> joints [protected]

Definition at line 194 of file arm2segm.h.

int motorno [protected]

Definition at line 202 of file arm2segm.h.

string name [protected]

Reimplemented from AbstractRobot. Definition at line 197 of file arm2segm.h.

vector<Primitive*> objects [protected]

Definition at line 193 of file arm2segm.h.

dSpaceID parentspace [protected]

Reimplemented from OdeRobot. Definition at line 189 of file arm2segm.h.

int sensorno [protected]

Definition at line 201 of file arm2segm.h.

paramval speed [protected]

Definition at line 198 of file arm2segm.h.

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