ForcedSphere Class Reference

#include <forcedsphere.h>

Inheritance diagram for ForcedSphere:

[legend]Collaboration diagram for ForcedSphere:

[legend]List of all members.

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Detailed Description

Definition at line 46 of file forcedsphere.h.

Public Member Functions
	ForcedSphere (const OdeHandle &odeHandle, const OsgHandle &osgHandle, const char *name, double radius=1, double max_force=1)
	constructor
virtual	~ForcedSphere ()
virtual void	update ()
	update all primitives and joints
virtual void	place (const osg::Matrix &pose)
	sets the pose of the vehicle
virtual bool	collisionCallback (void *data, dGeomID o1, dGeomID o2)
	This is the collision handling function for sphere robots.
virtual void	doInternalStuff (const GlobalData &globalData)
	this function is called in each timestep.
virtual int	getSensors (sensor *sensors, int sensornumber)
	Writes the sensor values to an array in the memory.
virtual void	setMotors (const motor *motors, int motornumber)
	Reads the actual motor commands from an array, an sets all motors of the snake to this values.
virtual int	getMotorNumber ()
	Returns the number of motors used by the snake.
virtual int	getSensorNumber ()
	Returns the number of sensors used by the robot.
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
Primitive *	object [1]
double	radius
double	max_force
bool	created

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Constructor & Destructor Documentation

ForcedSphere (  const OdeHandle &  odeHandle, const OsgHandle &  osgHandle, const char *  name, double  radius = 1, double  max_force = 1 )

constructor Definition at line 57 of file forcedsphere.cpp.

~ForcedSphere (   )  [virtual]

Definition at line 67 of file forcedsphere.cpp.

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Member Function Documentation

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

This is the collision handling function for sphere robots. This overwrides the function collisionCallback of the class robot. Parameters: data  o1  first geometrical object, which has taken part in the collision o2  second geometrical object, which has taken part in the collision Returns: true if the collision was threated by the robot, false if not Implements OdeRobot. Definition at line 127 of file forcedsphere.cpp.

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

creates vehicle at desired position Parameters: pose  4x4 pose matrix Definition at line 152 of file forcedsphere.cpp.

void destroy (   )  [protected, virtual]

destroys vehicle and space Definition at line 165 of file forcedsphere.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 116 of file forcedsphere.cpp.

virtual Primitive* getMainPrimitive (   )  const [inline, protected, virtual]

the main object of the robot, which is used for position and speed tracking Implements OdeRobot. Definition at line 118 of file forcedsphere.h.

int getMotorNumber (   )  [virtual]

Returns the number of motors used by the snake. Returns: number of motors Implements AbstractRobot. Definition at line 136 of file forcedsphere.cpp.

int getSensorNumber (   )  [virtual]

Returns the number of sensors used by the robot. Returns: number of sensors Implements AbstractRobot. Definition at line 144 of file forcedsphere.cpp.

int getSensors (  sensor *  sensors, int  sensornumber )  [virtual]

Writes the sensor values to an array in the memory. Parameters: sensors  pointer to the array sensornumber  length of the sensor array Returns: number of actually written sensors Implements AbstractRobot. Definition at line 83 of file forcedsphere.cpp.

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

sets the pose of the vehicle Parameters: pose  desired 4x4 pose matrix Implements OdeRobot. Definition at line 109 of file forcedsphere.cpp.

void setMotors (  const motor *  motors, int  motornumber )  [virtual]

Reads the actual motor commands from an array, an sets all motors of the snake to this values. It is an linear allocation. Parameters: motors  pointer to the array, motor values are scaled to [-1,1] motornumber  length of the motor array Implements AbstractRobot. Definition at line 102 of file forcedsphere.cpp.

void update (   )  [virtual]

update all primitives and joints Implements OdeRobot. Definition at line 72 of file forcedsphere.cpp.

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Member Data Documentation

bool created [protected]

Definition at line 52 of file forcedsphere.h.

double max_force [protected]

Definition at line 51 of file forcedsphere.h.

Primitive* object[1] [protected]

Definition at line 49 of file forcedsphere.h.

double radius [protected]

Definition at line 50 of file forcedsphere.h.

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