Sphererobot3Masses Class Reference

#include <sphererobot3masses.h>

Inheritance diagram for Sphererobot3Masses:

[legend]Collaboration diagram for Sphererobot3Masses:

[legend]List of all members.

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Detailed Description

Definition at line 87 of file sphererobot3masses.h.

Public Types
enum	objects {   Base, Pendular1, Pendular2, Pendular3,   Last }
Public Member Functions
	Sphererobot3Masses (const OdeHandle &odeHandle, const OsgHandle &osgHandle, const Sphererobot3MassesConf &conf, const char *name, double transparency=0.5)
	constructor
virtual	~Sphererobot3Masses ()
virtual void	update ()
	update all primitives and joints
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 sphere 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.
Static Public Member Functions
static Sphererobot3MassesConf	getDefaultConf ()
Public Attributes
Primitive *	object [Last]
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
SliderServo *	servo [servono]
SliderJoint *	joint [servono]
OSGPrimitive *	axis [servono]
double	transparency
bool	created
Sphererobot3MassesConf	conf
RaySensorBank	irSensorBank
Static Protected Attributes
static const int	servono = 3

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Member Enumeration Documentation

enum objects

Enumerator: Base  Pendular1  Pendular2  Pendular3  Last  Definition at line 90 of file sphererobot3masses.h.

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Constructor & Destructor Documentation

Sphererobot3Masses (  const OdeHandle &  odeHandle, const OsgHandle &  osgHandle, const Sphererobot3MassesConf &  conf, const char *  name, double  transparency = 0.5 )

constructor Definition at line 67 of file sphererobot3masses.cpp.

~Sphererobot3Masses (   )  [virtual]

Definition at line 84 of file sphererobot3masses.cpp.

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Member Function Documentation

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

This is the collision handling function for sphere 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 178 of file sphererobot3masses.cpp.

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

creates vehicle at desired position Parameters: pose  4x4 pose matrix Definition at line 232 of file sphererobot3masses.cpp.

void destroy (   )  [protected, virtual]

destroys vehicle and space Definition at line 315 of file sphererobot3masses.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 166 of file sphererobot3masses.cpp.

static Sphererobot3MassesConf getDefaultConf (   )  [inline, static]

Definition at line 116 of file sphererobot3masses.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 187 of file sphererobot3masses.h.

int getMotorNumber (   )  [virtual]

Returns the number of motors used by the snake. Returns: number of motors Implements AbstractRobot. Definition at line 215 of file sphererobot3masses.cpp.

int getSensorNumber (   )  [virtual]

Returns the number of sensors used by the robot. Returns: number of sensors Implements AbstractRobot. Definition at line 223 of file sphererobot3masses.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 109 of file sphererobot3masses.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 159 of file sphererobot3masses.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 151 of file sphererobot3masses.cpp.

void update (   )  [virtual]

update all primitives and joints Implements OdeRobot. Definition at line 89 of file sphererobot3masses.cpp.

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Member Data Documentation

OSGPrimitive* axis[servono] [protected]

Definition at line 97 of file sphererobot3masses.h.

Sphererobot3MassesConf conf [protected]

Definition at line 101 of file sphererobot3masses.h.

bool created [protected]

Definition at line 99 of file sphererobot3masses.h.

RaySensorBank irSensorBank [protected]

Definition at line 102 of file sphererobot3masses.h.

SliderJoint* joint[servono] [protected]

Definition at line 96 of file sphererobot3masses.h.

Primitive* object[Last]

Definition at line 105 of file sphererobot3masses.h.

SliderServo* servo[servono] [protected]

Definition at line 95 of file sphererobot3masses.h.

const int servono = 3 [static, protected]

Definition at line 93 of file sphererobot3masses.h.

double transparency [protected]

Definition at line 98 of file sphererobot3masses.h.

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