#include <nimm4.h>
Inheritance diagram for Nimm4:
Definition at line 93 of file nimm4.h.
Public Member Functions | |
| Nimm4 (const OdeHandle &odeHandle, const OsgHandle &osgHandle, double size=1, double force=3, double speed=15, bool sphereWheels=true) | |
| constructor of nimm4 robot | |
| virtual | ~Nimm4 () |
| 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 of nimm4 robot
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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. |
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creates vehicle at desired pose
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destroys vehicle and space
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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. |
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the main object of the robot, which is used for position and speed tracking
Implements OdeRobot. |
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returns number of motors
Implements AbstractRobot. |
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returns number of sensors
Implements AbstractRobot. |
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returns actual sensorvalues
Implements AbstractRobot. |
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things for collision handling inside the space of the robot can be done here
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sets the pose of the vehicle
Implements OdeRobot. |
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sets actual motorcommands
Implements AbstractRobot. |
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updates the osg notes
Implements OdeRobot. |
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1.4.5