#include <oderobot.h>
Inheritance diagram for OdeRobot:
Definition at line 127 of file oderobot.h.
Public Member Functions | |
OdeRobot (const OdeHandle &odeHandle, const OsgHandle &osgHandle, const char *name="OdeRobot") | |
Constructor. | |
virtual | ~OdeRobot () |
virtual void | update ()=0 |
update the OSG notes here | |
virtual void | place (const Pos &pos) |
sets the vehicle to position pos pos desired position of the robot | |
virtual void | place (const osg::Matrix &pose)=0 |
sets the pose of the vehicle | |
virtual bool | collisionCallback (void *data, dGeomID o1, dGeomID o2)=0 |
checks for internal collisions and treats them. | |
virtual void | doInternalStuff (const GlobalData &globalData)=0 |
this function is called in each timestep. | |
virtual void | setColor (const Color &col) |
sets color of the robot | |
virtual Position | getPosition () const |
returns position of the object | |
virtual Position | getSpeed () const |
returns linear speed vector of the object | |
virtual matrix::Matrix | getOrientation () const |
returns the orientation of the object | |
virtual Primitive * | getMainPrimitive () const =0 |
overload this in the robot implementation. | |
Static Protected Member Functions | |
static bool | isGeomInPrimitiveList (Primitive **ps, int len, dGeomID geom) |
static bool | isGeomInPrimitiveList (list< Primitive * > ps, dGeomID geom) |
static matrix::Matrix | odeRto3x3RotationMatrixT (const double R[12]) |
static matrix::Matrix | odeRto3x3RotationMatrix (const double R[12]) |
Protected Attributes | |
OdeHandle | odeHandle |
OsgHandle | osgHandle |
dSpaceID | parentspace |
Friends | |
class | OdeAgent |
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Constructor.
Definition at line 48 of file oderobot.cpp. |
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Definition at line 53 of file oderobot.cpp. |
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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). Implemented in ComponentToRobot, Arm2Segm, ForcedSphere, Formel1, HurlingSnake, MuscledArm, Nimm2, Nimm4, Schlange, ShortCircuit, Sphererobot, and Sphererobot3Masses. |
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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.
Implemented in ComponentToRobot, Arm2Segm, ForcedSphere, Formel1, HurlingSnake, MuscledArm, Nimm2, Nimm4, Schlange, ShortCircuit, Sphererobot, and Sphererobot3Masses. |
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overload this in the robot implementation. If there is no object for some reason then return a null pointer
Implemented in Arm2Segm, ForcedSphere, Formel1, HurlingSnake, MuscledArm, Nimm2, Nimm4, Schlange, ShortCircuit, Sphererobot, and Sphererobot3Masses. |
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returns the orientation of the object
Implements Trackable. Definition at line 92 of file oderobot.cpp. |
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returns position of the object
Implements Trackable. Definition at line 72 of file oderobot.cpp. |
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returns linear speed vector of the object
Implements Trackable. Definition at line 82 of file oderobot.cpp. |
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Definition at line 110 of file oderobot.cpp. |
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Definition at line 103 of file oderobot.cpp. |
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Definition at line 131 of file oderobot.cpp. |
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Definition at line 117 of file oderobot.cpp. |
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sets the pose of the vehicle
Implemented in Arm2Segm, ForcedSphere, Formel1, HurlingSnake, MuscledArm, Nimm2, Nimm4, Schlange, ShortCircuit, Sphererobot, and Sphererobot3Masses. |
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sets the vehicle to position pos pos desired position of the robot
Definition at line 65 of file oderobot.cpp. |
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sets color of the robot
Definition at line 58 of file oderobot.cpp. |
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update the OSG notes here
Implemented in Arm2Segm, ForcedSphere, Formel1, HurlingSnake, MuscledArm, Nimm2, Nimm4, Schlange, ShortCircuit, Sphererobot, and Sphererobot3Masses. |
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Definition at line 130 of file oderobot.h. |
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Definition at line 201 of file oderobot.h. |
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Definition at line 202 of file oderobot.h. |
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Reimplemented in Arm2Segm, and MuscledArm. Definition at line 203 of file oderobot.h. |