ShortCircuit Class Reference

#include <shortcircuit.h>

Inheritance diagram for ShortCircuit:

[legend]Collaboration diagram for ShortCircuit:

[legend]List of all members.

---

Detailed Description

Definition at line 64 of file shortcircuit.h.

Public Member Functions
	ShortCircuit (const OdeHandle &odeHandle, const OsgHandle &osgHandle, int sensornumber, int motornumber)
virtual void	update ()
	update the OSG notes here
virtual void	place (const osg::Matrix &pose)
	sets the pose of the vehicle
virtual int	getSensors (sensor *sensors, int sensornumber)
	returns actual sensorvalues
virtual void	setMotors (const motor *motors, int motornumber)
	sets actual motorcommands
virtual int	getSensorNumber ()
	returns number of sensors
virtual int	getMotorNumber ()
	returns number of motors
virtual void	doInternalStuff (const GlobalData &globalData)
	this function is called in each timestep.
virtual bool	collisionCallback (void *data, dGeomID o1, dGeomID o2)
	checks for internal collisions and treats them.
Protected Member Functions
virtual Primitive *	getMainPrimitive () const
	the main object of the robot, which is used for position and speed tracking
Protected Attributes
int	sensorno
int	motorno
motor *	motors

---

Constructor & Destructor Documentation

ShortCircuit (  const OdeHandle &  odeHandle, const OsgHandle &  osgHandle, int  sensornumber, int  motornumber )

Definition at line 44 of file shortcircuit.cpp.

---

Member Function Documentation

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

checks for internal collisions and treats them. In case of a treatment return true (collision will be ignored by other objects and the default routine) else false (collision is passed to other objects and (if not treated) to the default routine). Implements OdeRobot. Definition at line 102 of file shortcircuit.h.

virtual void doInternalStuff (  const GlobalData &  globalData  )  [inline, 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 100 of file shortcircuit.h.

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

the main object of the robot, which is used for position and speed tracking Implements OdeRobot. Definition at line 106 of file shortcircuit.h.

virtual int getMotorNumber (   )  [inline, virtual]

returns number of motors Implements AbstractRobot. Definition at line 94 of file shortcircuit.h.

virtual int getSensorNumber (   )  [inline, virtual]

returns number of sensors Implements AbstractRobot. Definition at line 90 of file shortcircuit.h.

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

returns actual sensorvalues Parameters: sensors  sensors scaled to [-1,1] sensornumber  length of the sensor array Returns: number of actually written sensors Implements AbstractRobot. Definition at line 71 of file shortcircuit.cpp.

virtual void place (  const osg::Matrix &  pose  )  [inline, virtual]

sets the pose of the vehicle Parameters: pose  desired 4x4 pose matrix Implements OdeRobot. Definition at line 73 of file shortcircuit.h.

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

sets actual motorcommands Parameters: motors  motors scaled to [-1,1] motornumber  length of the motor array Implements AbstractRobot. Definition at line 61 of file shortcircuit.cpp.

virtual void update (   )  [inline, virtual]

update the OSG notes here Implements OdeRobot. Definition at line 68 of file shortcircuit.h.

---

Member Data Documentation

int motorno [protected]

Definition at line 110 of file shortcircuit.h.

motor* motors [protected]

Definition at line 111 of file shortcircuit.h.

int sensorno [protected]

Definition at line 109 of file shortcircuit.h.

---