SchlangeServo2 Class Reference

#include <schlangeservo2.h>

Inheritance diagram for SchlangeServo2:

[legend]Collaboration diagram for SchlangeServo2:

[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 powered by 2 servos

Definition at line 51 of file schlangeservo2.h.

Public Member Functions
	SchlangeServo2 (const OdeHandle &odeHandle, const OsgHandle &osgHandle, const SchlangeConf &conf, const char *name)
virtual	~SchlangeServo2 ()
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

SchlangeServo2 (  const OdeHandle &  odeHandle, const OsgHandle &  osgHandle, const SchlangeConf &  conf, const char *  name )

Definition at line 36 of file schlangeservo2.cpp.

~SchlangeServo2 (   )  [virtual]

Definition at line 46 of file schlangeservo2.cpp.

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Member Function Documentation

virtual int getMotorNumber (   )  [inline, virtual]

returns number of motors Implements Schlange. Definition at line 86 of file schlangeservo2.h.

virtual int getSensorNumber (   )  [inline, virtual]

returns number of sensors Implements Schlange. Definition at line 82 of file schlangeservo2.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 72 of file schlangeservo2.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 55 of file schlangeservo2.cpp.

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

Reimplemented from Schlange. Definition at line 123 of file schlangeservo2.cpp.

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