#include <nimm2.h>
Inheritance diagram for Nimm2:
Definition at line 140 of file nimm2.h.
Public Member Functions | |
| Nimm2 (const OdeHandle &odehandle, const OsgHandle &osgHandle, const Nimm2Conf &conf) | |
| virtual | ~Nimm2 () |
| virtual void | update () |
| updates the osg notes and sensorbank | |
| 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 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. | |
Static Public Member Functions | |
| static Nimm2Conf | getDefaultConf () |
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) |
Protected Attributes | |
| Nimm2Conf | conf |
| double | length |
| double | width |
| double | height |
| double | radius |
| double | wheelthickness |
| double | cmass |
| double | wmass |
| int | sensorno |
| int | motorno |
| bool | created |
| double | max_force |
| Primitive * | object [3] |
| double | wheeloffset |
| int | number_bumpers |
| Bumper | bumper [2] |
| Hinge2Joint * | joint [2] |
| RaySensorBank | irSensorBank |
|
||||||||||||||||
|
|
|
|
|
|
||||||||||||||||
|
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. |
|
|
creates vehicle at desired pose
|
|
|
destroys vehicle and space
|
|
|
this function is called in each timestep. It should perform robot-internal checks, like space-internal collision detection, sensor resets/update etc.
Implements OdeRobot. |
|
|
|
|
|
the main object of the robot, which is used for position and speed tracking
Implements OdeRobot. |
|
|
returns number of motors
Implements AbstractRobot. |
|
|
returns a vector with the positions of all segments of the robot
|
|
|
returns number of sensors
Implements AbstractRobot. |
|
||||||||||||
|
returns actual sensorvalues
Implements AbstractRobot. |
|
||||||||||||||||
|
|
|
|
sets the pose of the vehicle
Implements OdeRobot. |
|
||||||||||||
|
sets actual motorcommands
Implements AbstractRobot. |
|
|
updates the osg notes and sensorbank
Implements OdeRobot. |
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
1.4.5