#include <muscledarm.h>
Inheritance diagram for MuscledArm:
Definition at line 136 of file muscledarm.h.
Public Member Functions | |
MuscledArm (const OdeHandle &odeHandle, const OsgHandle &osgHandle, const MuscledArmConf &conf) | |
virtual | ~MuscledArm () |
virtual void | update () |
draws the arm | |
virtual void | place (const osg::Matrix &pose) |
sets the pose of the vehicle pose desired 4x4 pose matrix | |
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 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) |
virtual Primitive * | getMainObject () const |
Static Public Member Functions | |
static MuscledArmConf | getDefaultConf () |
Public Attributes | |
double | force_ [6] |
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 arm at desired position | |
virtual void | destroy () |
destroys vehicle and space | |
double | dBodyGetPositionAll (dBodyID basis, int para) |
double | dGeomGetPositionAll (dGeomID basis, int para) |
void | BodyCreate (int n, dMass m, dReal x, dReal y, dReal z, dReal qx, dReal qy, dReal qz, dReal qangle) |
Static Protected Member Functions | |
static void | mycallback (void *data, dGeomID o1, dGeomID o2) |
Protected Attributes | |
MuscledArmConf | conf |
Primitive * | object [NUMParts] |
Joint * | joint [NUMJoints] |
Position | old_dist [NUMParts] |
string | name |
paramval | factorMotors |
paramval | factorSensors |
paramval | damping |
paramval | |
int | segmentsno |
double | gelenkabstand |
double | SOCKEL_LAENGE |
double | SOCKEL_BREITE |
double | SOCKEL_HOEHE |
double | SOCKEL_MASSE |
int | sensorno |
int | motorno |
bool | created |
dSpaceID | parentspace |
int | printed |
double | max_l |
double | max_r |
double | min_l |
double | min_r |
double | base_width |
double | base_length |
double | upperArm_width |
double | upperArm_length |
double | lowerArm_width |
double | lowerArm_length |
double | joint_offset |
double | mainMuscle_width |
double | mainMuscle_length |
double | smallMuscle_width |
double | smallMuscle_length |
Static Protected Attributes | |
static const int | armanzahl = 3 |
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Definition at line 71 of file muscledarm.cpp. |
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Definition at line 152 of file muscledarm.h. |
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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 321 of file muscledarm.cpp. |
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creates arm at desired position
Definition at line 365 of file muscledarm.cpp. |
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destroys vehicle and space
Definition at line 694 of file muscledarm.cpp. |
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this function is called in each timestep. It should perform robot-internal checks, like space-internal collision detection, sensor resets/update etc.
Implements OdeRobot. Definition at line 236 of file muscledarm.cpp. |
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Definition at line 143 of file muscledarm.h. |
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Definition at line 709 of file muscledarm.cpp. |
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the main object of the robot, which is used for position and speed tracking
Implements OdeRobot. Definition at line 223 of file muscledarm.h. |
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returns number of motors
Implements AbstractRobot. Definition at line 186 of file muscledarm.h. |
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returns the name of the object (with version number)
Reimplemented from Configurable. Definition at line 209 of file muscledarm.h. |
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Definition at line 722 of file muscledarm.cpp. |
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The list of all parameters with there value as allocated lists.
Reimplemented from Configurable. Definition at line 713 of file muscledarm.cpp. |
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returns a vector with the positions of all segments of the robot
Definition at line 211 of file muscledarm.cpp. |
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returns number of sensors
Implements AbstractRobot. Definition at line 180 of file muscledarm.h. |
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returns actual sensorvalues
Implements AbstractRobot. Definition at line 163 of file muscledarm.cpp. |
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Definition at line 289 of file muscledarm.cpp. |
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sets the pose of the vehicle pose desired 4x4 pose matrix
Implements OdeRobot. Definition at line 197 of file muscledarm.cpp. |
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sets actual motorcommands
Implements AbstractRobot. Definition at line 136 of file muscledarm.cpp. |
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Definition at line 730 of file muscledarm.cpp. |
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draws the arm
Implements OdeRobot. Definition at line 223 of file muscledarm.cpp. |
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Definition at line 244 of file muscledarm.h. |
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Definition at line 286 of file muscledarm.h. |
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Definition at line 285 of file muscledarm.h. |
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Definition at line 242 of file muscledarm.h. |
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Definition at line 274 of file muscledarm.h. |
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Definition at line 255 of file muscledarm.h. |
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Definition at line 254 of file muscledarm.h. |
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Definition at line 139 of file muscledarm.h. |
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Definition at line 248 of file muscledarm.h. |
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Definition at line 291 of file muscledarm.h. |
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Definition at line 290 of file muscledarm.h. |
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Definition at line 289 of file muscledarm.h. |
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Definition at line 293 of file muscledarm.h. |
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Definition at line 292 of file muscledarm.h. |
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Definition at line 282 of file muscledarm.h. |
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Definition at line 283 of file muscledarm.h. |
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Definition at line 283 of file muscledarm.h. |
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Definition at line 283 of file muscledarm.h. |
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Definition at line 272 of file muscledarm.h. |
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Reimplemented from AbstractRobot. Definition at line 252 of file muscledarm.h. |
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Definition at line 247 of file muscledarm.h. |
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Definition at line 250 of file muscledarm.h. |
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Reimplemented from OdeRobot. Definition at line 278 of file muscledarm.h. |
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Definition at line 256 of file muscledarm.h. |
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Definition at line 280 of file muscledarm.h. |
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Definition at line 261 of file muscledarm.h. |
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Definition at line 295 of file muscledarm.h. |
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Definition at line 294 of file muscledarm.h. |
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Definition at line 267 of file muscledarm.h. |
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Definition at line 268 of file muscledarm.h. |
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Definition at line 266 of file muscledarm.h. |
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Definition at line 269 of file muscledarm.h. |
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Definition at line 288 of file muscledarm.h. |
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Definition at line 287 of file muscledarm.h. |