Schlange Class Reference

#include <schlange.h>

Inheritance diagram for Schlange:

[legend]Collaboration diagram for Schlange:

[legend]List of all members.

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Detailed Description

This is a class, which models a snake like robot.

It consists of a number of equal elements, each linked by a joint

Definition at line 85 of file schlange.h.

Public Member Functions
	Schlange (const OdeHandle &odeHandle, const OsgHandle &osgHandle, const SchlangeConf &conf, const char *name)
virtual	~Schlange ()
virtual void	place (const osg::Matrix &pose)
	sets the pose of the vehicle
virtual void	update ()
	update all primitives and joints
virtual bool	collisionCallback (void *data, dGeomID o1, dGeomID o2)
	This is the collision handling function for snake robots.
virtual void	doInternalStuff (const GlobalData &global)
	this function is called in each timestep.
virtual void	setMotors (const motor *motors, int motornumber)=0
	Reads the actual motor commands from an array, an sets all motors of the snake to this values.
virtual int	getSensors (sensor *sensors, int sensornumber)=0
	Writes the sensor values to an array in the memory.
virtual int	getSensorNumber ()=0
	returns number of sensors
virtual int	getMotorNumber ()=0
	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)
virtual Primitive *	getMainPrimitive () const
	the main object of the robot, which is used for position and speed tracking
Static Public Member Functions
static SchlangeConf	getDefaultConf ()
static void	mycallback (void *data, dGeomID o1, dGeomID o2)
Protected Member Functions
virtual void	create (const osg::Matrix &pose)
	creates vehicle at desired position
virtual void	destroy ()
	destroys vehicle and space
Protected Attributes
bool	created
vector< Primitive * >	objects
vector< Joint * >	joints
vector< AngularMotor * >	frictionmotors
SchlangeConf	conf

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Constructor & Destructor Documentation

Schlange (  const OdeHandle &  odeHandle, const OsgHandle &  osgHandle, const SchlangeConf &  conf, const char *  name )

Definition at line 51 of file schlange.cpp.

~Schlange (   )  [virtual]

Definition at line 61 of file schlange.cpp.

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Member Function Documentation

bool collisionCallback (  void *  data, dGeomID  o1, dGeomID  o2 )  [virtual]

This is the collision handling function for snake robots. This overwrides the function collisionCallback of the class robot. Parameters: data  o1  first geometrical object, which has taken part in the collision o2  second geometrical object, which has taken part in the collision Returns: true if the collision was threated by the robot, false if not Implements OdeRobot. Definition at line 129 of file schlange.cpp.

void create (  const osg::Matrix &  pose  )  [protected, virtual]

creates vehicle at desired position Parameters: pose  4x4 pose matrix Definition at line 210 of file schlange.cpp.

void destroy (   )  [protected, virtual]

destroys vehicle and space Definition at line 234 of file schlange.cpp.

void doInternalStuff (  const GlobalData &  global  )  [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 84 of file schlange.cpp.

static SchlangeConf getDefaultConf (   )  [inline, static]

Reimplemented in SchlangeVelocity. Definition at line 100 of file schlange.h.

virtual Primitive* getMainPrimitive (   )  const [inline, virtual]

the main object of the robot, which is used for position and speed tracking Implements OdeRobot. Definition at line 182 of file schlange.h.

virtual int getMotorNumber (   )  [pure virtual]

returns number of motors Implements AbstractRobot. Implemented in SchlangeForce, SchlangeServo, SchlangeServo2, and SchlangeVelocity.

virtual paramkey getName (   )  const [inline, virtual]

returns the name of the object (with version number) Reimplemented from Configurable. Definition at line 171 of file schlange.h.

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

Definition at line 173 of file schlange.cpp.

Configurable::paramlist getParamList (   )  const [virtual]

The list of all parameters with there value as allocated lists. Parameters: keylist,vallist  will be allocated with malloc (free it after use!) Returns: length of the lists Reimplemented from Configurable. Definition at line 163 of file schlange.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 196 of file schlange.cpp.

virtual int getSensorNumber (   )  [pure virtual]

returns number of sensors Implements AbstractRobot. Implemented in SchlangeForce, SchlangeServo, SchlangeServo2, and SchlangeVelocity.

virtual int getSensors (  sensor *  sensors, int  sensornumber )  [pure virtual]

Writes the sensor values to an array in the memory. Parameters: sensors  pointer to the array sensornumber  length of the sensor array Returns: number of actually written sensors Implements AbstractRobot. Implemented in SchlangeForce, SchlangeServo, SchlangeServo2, and SchlangeVelocity.

void mycallback (  void *  data, dGeomID  o1, dGeomID  o2 )  [static]

Definition at line 91 of file schlange.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 67 of file schlange.cpp.

virtual void setMotors (  const motor *  motors, int  motornumber )  [pure virtual]

Reads the actual motor commands from an array, an sets all motors of the snake to this values. It is an linear allocation. Parameters: motors  pointer to the array, motor values are scaled to [-1,1] motornumber  length of the motor array Implements AbstractRobot. Implemented in SchlangeForce, SchlangeServo, SchlangeServo2, and SchlangeVelocity.

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

Reimplemented in SchlangeServo, and SchlangeServo2. Definition at line 181 of file schlange.cpp.

void update (   )  [virtual]

update all primitives and joints Implements OdeRobot. Definition at line 74 of file schlange.cpp.

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Member Data Documentation

SchlangeConf conf [protected]

Definition at line 94 of file schlange.h.

bool created [protected]

Definition at line 89 of file schlange.h.

vector<AngularMotor*> frictionmotors [protected]

Definition at line 93 of file schlange.h.

vector<Joint*> joints [protected]

Definition at line 92 of file schlange.h.

vector<Primitive*> objects [protected]

Definition at line 91 of file schlange.h.

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