SchlangeForce Class Reference

#include <schlangeforce.h>

Inheritance diagram for SchlangeForce:

[legend]Collaboration diagram for SchlangeForce:

[legend]List of all members.

---

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 powered by torques added to joints

Definition at line 63 of file schlangeforce.h.

Public Member Functions
	SchlangeForce (const OdeHandle &odeHandle, const OsgHandle &osgHandle, const SchlangeConf &conf, const char *name)
virtual	~SchlangeForce ()
virtual void	setMotors (const motor *motors, int motornumber)
	Reads the actual motor commands from an array, and sets all motors (forces) of the snake to this values.
virtual int	getSensors (sensor *sensors, int sensornumber)
	Writes the sensor values to an array in the memory.
virtual int	getSensorNumber ()
	returns number of sensors
virtual int	getMotorNumber ()
	returns number of motors

---

Constructor & Destructor Documentation

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

Definition at line 48 of file schlangeforce.cpp.

~SchlangeForce (   )  [virtual]

Definition at line 56 of file schlangeforce.cpp.

---

Member Function Documentation

virtual int getMotorNumber (   )  [inline, virtual]

returns number of motors Implements Schlange. Definition at line 95 of file schlangeforce.h.

virtual int getSensorNumber (   )  [inline, virtual]

returns number of sensors Implements Schlange. Definition at line 91 of file schlangeforce.h.

int getSensors (  sensor *  sensors, int  sensornumber )  [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 Schlange. Definition at line 94 of file schlangeforce.cpp.

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

Reads the actual motor commands from an array, and sets all motors (forces) 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 Schlange. Definition at line 65 of file schlangeforce.cpp.

---