SchlangeVelocity Class Reference

#include <schlangevelocity.h>

Inheritance diagram for SchlangeVelocity:

[legend]Collaboration diagram for SchlangeVelocity:

[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 directly setting the angular velocities of the joints

Definition at line 52 of file schlangevelocity.h.

Public Member Functions
	SchlangeVelocity (const OdeHandle &odeHandle, const OsgHandle &osgHandle, const SchlangeConf &conf, const char *name)
virtual	~SchlangeVelocity ()
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
Static Public Member Functions
static SchlangeConf	getDefaultConf ()

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Constructor & Destructor Documentation

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

Definition at line 37 of file schlangevelocity.cpp.

~SchlangeVelocity (   )  [virtual]

Definition at line 46 of file schlangevelocity.cpp.

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Member Function Documentation

static SchlangeConf getDefaultConf (   )  [inline, static]

Reimplemented from Schlange. Definition at line 64 of file schlangevelocity.h.

virtual int getMotorNumber (   )  [inline, virtual]

returns number of motors Implements Schlange. Definition at line 101 of file schlangevelocity.h.

virtual int getSensorNumber (   )  [inline, virtual]

returns number of sensors Implements Schlange. Definition at line 97 of file schlangevelocity.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 79 of file schlangevelocity.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 55 of file schlangevelocity.cpp.

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