Formel1 Class Reference

#include <formel1.h>

Inheritance diagram for Formel1:

[legend]Collaboration diagram for Formel1:

[legend]List of all members.

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Detailed Description

Robot that looks like a Nimm 2 Bonbon :-) 4 wheels and a capsule like body.

Definition at line 62 of file formel1.h.

Public Member Functions
	Formel1 (const OdeHandle &odeHandle, const OsgHandle &osgHandle, double size=1, double force=3, double speed=15, bool sphereWheels=true)
virtual	~Formel1 ()
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 (const GlobalData &globalData)
	this function is called in each timestep.
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 pose
virtual void	destroy ()
	destroys vehicle and space
Static Protected Member Functions
static void	mycallback (void *data, dGeomID o1, dGeomID o2)
	things for collision handling inside the space of the robot can be done here
Protected Attributes
double	length
double	width
double	height
double	radius
double	wheelthickness
bool	sphereWheels
double	cmass
double	wmass
int	sensorno
int	motorno
int	segmentsno
double	speed
double	max_force
bool	created
Primitive *	object [5]
Hinge2Joint *	joint [4]

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Constructor & Destructor Documentation

Formel1 (  const OdeHandle &  odeHandle, const OsgHandle &  osgHandle, double  size = 1, double  force = 3, double  speed = 15, bool  sphereWheels = true )

Definition at line 58 of file formel1.cpp.

virtual ~Formel1 (   )  [inline, virtual]

Definition at line 68 of file formel1.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 200 of file formel1.cpp.

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

creates vehicle at desired pose Parameters: pose  4x4 pose matrix

void destroy (   )  [protected, virtual]

destroys vehicle and space Definition at line 313 of file formel1.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 193 of file formel1.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 122 of file formel1.h.

virtual int getMotorNumber (   )  [inline, virtual]

returns number of motors Implements AbstractRobot. Definition at line 102 of file formel1.h.

virtual int getSensorNumber (   )  [inline, virtual]

returns number of sensors Implements AbstractRobot. Definition at line 96 of file formel1.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 129 of file formel1.cpp.

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

things for collision handling inside the space of the robot can be done here Definition at line 174 of file formel1.cpp.

virtual 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 Implements AbstractRobot. Definition at line 97 of file formel1.cpp.

void update (   )  [virtual]

updates the osg notes Implements OdeRobot. Definition at line 160 of file formel1.cpp.

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Member Data Documentation

double cmass [protected]

Definition at line 143 of file formel1.h.

bool created [protected]

Definition at line 152 of file formel1.h.

double height [protected]

Definition at line 139 of file formel1.h.

Hinge2Joint* joint[4] [protected]

Definition at line 155 of file formel1.h.

double length [protected]

Definition at line 137 of file formel1.h.

double max_force [protected]

Definition at line 150 of file formel1.h.

int motorno [protected]

Definition at line 146 of file formel1.h.

Primitive* object[5] [protected]

Definition at line 154 of file formel1.h.

double radius [protected]

Definition at line 140 of file formel1.h.

int segmentsno [protected]

Definition at line 147 of file formel1.h.

int sensorno [protected]

Definition at line 145 of file formel1.h.

double speed [protected]

Definition at line 148 of file formel1.h.

bool sphereWheels [protected]

Definition at line 142 of file formel1.h.

double wheelthickness [protected]

Definition at line 141 of file formel1.h.

double width [protected]

Definition at line 138 of file formel1.h.

double wmass [protected]

Definition at line 144 of file formel1.h.

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