HurlingSnake Class Reference

#include <hurlingsnake.h>

Inheritance diagram for HurlingSnake:

[legend]Collaboration diagram for HurlingSnake:

[legend]List of all members.

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Detailed Description

Hurling snake is a string a beats.

Definition at line 84 of file hurlingsnake.h.

Public Member Functions
	HurlingSnake (const OdeHandle &odeHandle, const OsgHandle &osgHandle)
	Constructor.
virtual void	update ()
	update the subcomponents
virtual void	place (const osg::Matrix &pose)
	sets the pose of the vehicle
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 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 paramkey	getName () const
	returns the name of the object (with version number)
virtual 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)
Protected Member Functions
virtual Primitive *	getMainPrimitive () const
	the main object of the robot, which is used for position and speed tracking

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Constructor & Destructor Documentation

HurlingSnake (  const OdeHandle &  odeHandle, const OsgHandle &  osgHandle )

Constructor. Parameters: w  world in which robot should be created s  space in which robot should be created c  contactgroup for collision treatment Definition at line 78 of file hurlingsnake.cpp.

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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 150 of file hurlingsnake.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 123 of file hurlingsnake.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 151 of file hurlingsnake.h.

int getMotorNumber (   )  [virtual]

returns number of motors Implements AbstractRobot. Definition at line 217 of file hurlingsnake.cpp.

virtual paramkey getName (   )  const [inline, virtual]

returns the name of the object (with version number) Reimplemented from Configurable. Definition at line 139 of file hurlingsnake.h.

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

Definition at line 295 of file hurlingsnake.cpp.

Configurable::paramlist getParamList (   )  const [virtual]

The list of all parameters with there value as allocated lists. Reimplemented from Configurable. Definition at line 285 of file hurlingsnake.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 226 of file hurlingsnake.cpp.

int getSensorNumber (   )  [virtual]

returns number of sensors Implements AbstractRobot. Definition at line 211 of file hurlingsnake.cpp.

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 186 of file hurlingsnake.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 116 of file hurlingsnake.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 203 of file hurlingsnake.cpp.

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

Definition at line 303 of file hurlingsnake.cpp.

void update (   )  [virtual]

update the subcomponents Implements OdeRobot. Definition at line 105 of file hurlingsnake.cpp.

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