Sphererobot Class Reference

#include <sphererobot.h>

Inheritance diagram for Sphererobot:

[legend]Collaboration diagram for Sphererobot:

[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. This class is based upon the class roboter by the same author.

Author:

Marcel Kretschmann

Version:

beta

Definition at line 81 of file sphererobot.h.

Public Types
enum	objects {   Base, Pendular, Pole1Bot, Pole2Bot,   Pole3Bot, Pole1Top, Pole2Top, Pole3Top,   Last }
Public Member Functions
	Sphererobot (const OdeHandle &odeHandle, const OsgHandle &osgHandle, const SphererobotConf &conf, const char *name)
virtual	~Sphererobot ()
virtual void	update ()
	update the subcomponents
virtual void	place (const osg::Matrix &pose)
	sets the pose of the vehicle
virtual bool	collisionCallback (void *data, dGeomID o1, dGeomID o2)
	This is the collision handling function for snake robots.
virtual void	doInternalStuff (const GlobalData &globalData)
	this function is called in each timestep.
virtual int	getSensors (sensor *sensors, int sensornumber)
	Writes the sensor values to an array in the memory.
virtual void	setMotors (const motor *motors, int motornumber)
	Reads the actual motor commands from an array, an sets all motors of the snake to this values.
virtual int	getMotorNumber ()
	Returns the number of motors used by the snake.
virtual int	getSensorNumber ()
	Returns the number of sensors used by the robot.
virtual int	getSegmentsPosition (vector< Position > &poslist)
	returns a vector with the positions of all segments of the robot
Static Public Member Functions
static SphererobotConf	getDefaultConf ()
Public Attributes
SliderServo *	servo [3]
Primitive *	object [Last]
SliderJoint *	slider [3]
Joint *	joint [6]
Protected Member Functions
virtual Primitive *	getMainPrimitive () const
	the main object of the robot, which is used for position and speed tracking
virtual void	create (const osg::Matrix &pose)
	creates vehicle at desired position
virtual void	destroy ()
	destroys vehicle and space
Protected Attributes
SphererobotConf	conf
bool	created
Static Protected Attributes
static const int	sensorno = 9

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Member Enumeration Documentation

enum objects

Enumerator: Base  Pendular  Pole1Bot  Pole2Bot  Pole3Bot  Pole1Top  Pole2Top  Pole3Top  Last  Definition at line 84 of file sphererobot.h.

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Constructor & Destructor Documentation

Sphererobot (  const OdeHandle &  odeHandle, const OsgHandle &  osgHandle, const SphererobotConf &  conf, const char *  name )

Definition at line 58 of file sphererobot.cpp.

~Sphererobot (   )  [virtual]

Definition at line 69 of file sphererobot.cpp.

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Member Function Documentation

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

This is the collision handling function for snake robots. This overwrides the function collisionCallback of the class robot. Parameters: data  o1  first geometrical object, which has taken part in the collision o2  second geometrical object, which has taken part in the collision Returns: true if the collision was threated by the robot, false if not Implements OdeRobot. Definition at line 124 of file sphererobot.cpp.

void create (  const osg::Matrix &  pose  )  [protected, virtual]

creates vehicle at desired position Parameters: pose  4x4 pose matrix Definition at line 192 of file sphererobot.cpp.

void destroy (   )  [protected, virtual]

destroys vehicle and space Definition at line 273 of file sphererobot.cpp.

void doInternalStuff (  const GlobalData &  globalData  )  [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 122 of file sphererobot.cpp.

static SphererobotConf getDefaultConf (   )  [inline, static]

Definition at line 106 of file sphererobot.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 176 of file sphererobot.h.

int getMotorNumber (   )  [virtual]

Returns the number of motors used by the snake. Returns: number of motors Implements AbstractRobot. Definition at line 163 of file sphererobot.cpp.

int getSegmentsPosition (  vector< Position > &  poslist  )  [virtual]

returns a vector with the positions of all segments of the robot Parameters: vector  of positions (of all robot segments) Returns: length of the list Definition at line 181 of file sphererobot.cpp.

int getSensorNumber (   )  [virtual]

Returns the number of sensors used by the robot. Returns: number of sensors Implements AbstractRobot. Definition at line 173 of file sphererobot.cpp.

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 AbstractRobot. Definition at line 88 of file sphererobot.cpp.

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

sets the pose of the vehicle Parameters: pose  desired 4x4 pose matrix Implements OdeRobot. Definition at line 113 of file sphererobot.cpp.

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

Reads the actual motor commands from an array, an sets all motors 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 AbstractRobot. Definition at line 105 of file sphererobot.cpp.

void update (   )  [virtual]

update the subcomponents Implements OdeRobot. Definition at line 73 of file sphererobot.cpp.

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Member Data Documentation

SphererobotConf conf [protected]

Definition at line 90 of file sphererobot.h.

bool created [protected]

Definition at line 91 of file sphererobot.h.

Joint* joint[6]

Definition at line 97 of file sphererobot.h.

Primitive* object[Last]

Definition at line 95 of file sphererobot.h.

const int sensorno = 9 [static, protected]

Definition at line 88 of file sphererobot.h.

SliderServo* servo[3]

Definition at line 94 of file sphererobot.h.

SliderJoint* slider[3]

Definition at line 96 of file sphererobot.h.

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