SchlangeServo Class Reference

#include <schlangeservo.h>

Inheritance diagram for SchlangeServo:

[legend]Collaboration diagram for SchlangeServo:

[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 hinge powered by 1 servos

Definition at line 67 of file schlangeservo.h.

Public Member Functions
	SchlangeServo (const OdeHandle &odeHandle, const OsgHandle &osgHandle, const SchlangeConf &conf, const char *name)
virtual	~SchlangeServo ()
virtual void	setMotors (const motor *motors, int motornumber)
	Reads the actual motor commands from an array, an 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
virtual bool	setParam (const paramkey &key, paramval val)

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Constructor & Destructor Documentation

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

Definition at line 51 of file schlangeservo.cpp.

~SchlangeServo (   )  [virtual]

Definition at line 61 of file schlangeservo.cpp.

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Member Function Documentation

virtual int getMotorNumber (   )  [inline, virtual]

returns number of motors Implements Schlange. Definition at line 102 of file schlangeservo.h.

virtual int getSensorNumber (   )  [inline, virtual]

returns number of sensors Implements Schlange. Definition at line 98 of file schlangeservo.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 87 of file schlangeservo.cpp.

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

Reads the actual motor commands from an array, an 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 70 of file schlangeservo.cpp.

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

Reimplemented from Schlange. Definition at line 133 of file schlangeservo.cpp.

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