lpzrobots Namespace Reference

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Detailed Description

component.h

components are the building parts for robots components can be composed of zero or more sub components components can be bodies + geometry, sensors, ... components may expose wires

the interface to control the robot is a set of wires.

Classes
class	OdeAgent
	Specialised agent for ode robots. More...
class	CompatSim
class	IWire
	Wire. More...
class	IInputWire
class	IOutputWire
class	IBidirectionalWire
class	IComponent
	Component. More...
class	AbstractComponent
	AbstractComponent. More...
class	AbstractCompoundComponent
	AbstractCompoundComponent. More...
class	SimplePhysicalComponent
	SimplePhysicalComponent. More...
class	AbstractMotorComponent
	AbstractMotorComponent. More...
class	MotorWire
class	UniversalMotorComponent
	UniversalMotorComponent. More...
class	RobotArmDescription
class	CCURobotArmComponent
	RobotArmComponent. More...
class	PlaneComponentDescription
class	SpiderDescription
class	SpiderComponent
class	ComponentToRobot
class	AngularMotor
	Abstract angular motor class. More...
class	AngularMotor1Axis
	Angular motor for OneAxisJoints. More...
class	AngularMotor2Axis
	Angular motor for TwoAxisJoints. More...
class	AngularMotor3AxisEuler
	Angular motor for Ball Joints with Euler control. More...
class	AngularMotorNAxis
	Angular motor for arbitrary Joints with custom axis (up to 3). More...
class	Hinge2Servo
	PID Servo motor for hinge2 joints at axis 1 (steering axis). More...
class	HingeServo
	PID Servo motor for hinge joints. More...
class	PID
class	SliderServo
	PID Servo motor for slider joints. More...
class	UniversalServo
	PID Servo motor for universal joints. More...
class	AbstractObstacle
	Abstract class (interface) for obstacles. More...
class	ClosedPlayground
class	MeshObstacle
class	OctaPlayground
class	PassiveBox
	(Passive) box as obstacle More...
class	PassiveSphere
	(Passive) sphere as obstacle More...
class	Playground
class	OdeConfig
class	MoveEarthySkyWithEyePointTransform
class	Base
class	BoundingShape
	class for reading bounding shape description files (.bbox) and to create appropriate geoms File Format: Lines wise, every line stands for one primitive. More...
class	CameraManipulator
	CameraManipulator is a MatrixManipulator which provides Flying simulator-like updating of the camera position & orientation. More...
class	CameraManipulatorFollow
	CameraManipulatorFollow is a MatrixManipulator which provides Flying simulator-like updating of the camera position & orientation. More...
class	CameraManipulatorRace
	CameraManipulatorRace is a MatrixManipulator which provides Flying simulator-like updating of the camera position & orientation. More...
class	CameraManipulatorTV
	CameraManipulatorTV is a MatrixManipulator which provides Flying simulator-like updating of the camera position & orientation. More...
class	ExtendedViewer
	A Producer-based viewer. More...
class	InvisibleBox
class	InvisibleSphere
class	InvisibleCapsule
class	Joint
class	OneAxisJoint
class	TwoAxisJoint
class	FixedJoint
class	HingeJoint
class	Hinge2Joint
class	UniversalJoint
class	BallJoint
class	SliderJoint
class	OSGPrimitive
	Interface class for graphic primitives like spheres, boxes, and meshes, which can be drawn by OSG. More...
class	OSGDummy
	A dummy graphical object, which has no representation in the graphical world. More...
class	OSGPlane
	Graphical plane (represented as a large thin box, because OSG does not draw planes). More...
class	OSGBox
	Graphical box. More...
class	OSGSphere
	Graphical sphere. More...
class	OSGCapsule
	Graphical capsule (a cylinder with round ends). More...
class	OSGCylinder
	Graphical cylinder. More...
class	OSGMesh
	Graphical Mesh or arbitrary OSG model. More...
class	Primitive
	Interface class for primitives represented in the physical and graphical world. More...
class	Plane
	Plane primitive. More...
class	Box
	Box primitive. More...
class	Sphere
	Sphere primitive. More...
class	Capsule
	Capsule primitive. More...
class	Transform
	Primitive for transforming a geom (primitive without body) in respect to a body (primitive with body). More...
class	DummyPrimitive
	Dummy Primitive which returns 0 for geom and body. More...
struct	Arm2SegmConf
class	Arm2Segm
class	ForcedSphere
class	Formel1
	Robot that looks like a Nimm 2 Bonbon :-) 4 wheels and a capsule like body. More...
class	HurlingSnake
	Hurling snake is a string a beats. More...
struct	MuscledArmConf
class	MuscledArm
struct	Bumper
struct	Nimm2Conf
class	Nimm2
	Robot that looks like a Nimm 2 Bonbon :-) 2 wheels and a cylinder like body. More...
class	Nimm4
	Robot that looks like a Nimm 2 Bonbon :-) 4 wheels and a capsule like body. More...
class	OdeRobot
	Abstract class for ODE robots. More...
struct	SchlangeConf
class	Schlange
	This is a class, which models a snake like robot. More...
class	SchlangeForce
	This is a class, which models a snake like robot. More...
class	SchlangeServo
	This is a class, which models a snake like robot. More...
class	SchlangeServo2
	This is a class, which models a snake like robot. More...
class	SchlangeVelocity
	This is a class, which models a snake like robot. More...
class	ShortCircuit
struct	SphererobotConf
class	Sphererobot
	This is a class, which models a snake like robot. More...
struct	Sphererobot3MassesConf
class	Sphererobot3Masses
class	IRSensor
	Class for IR sensors. More...
class	RaySensor
	Abstract class for Ray-based sensors. More...
class	RaySensorBank
	Class for a bank of ray sensors. More...
class	Simulation
class	Axis
class	Color
class	CubicSpline
class	IException
struct	GlobalData
	Data structure holding all essential global information. More...
class	VideoStream
class	TriDiagonalMatrixPair
class	AbstractMatrix
class	Matrix
class	TriDiagonalMatrix
	TriDiagonalMatrix N: number of rows. More...
class	OdeHandle
	Data structure for accessing the ODE. More...
class	OsgHandle
	Data structure for accessing the ODE. More...
class	Pos
class	Vector
class	Vector3
Typedefs
typedef std::list< IComponent * >	ComponentContainer
typedef Vector3< dReal >	Vertex
typedef std::list< Vertex >	VertexList
typedef Vector3< dReal >	Angle
typedef std::list< Angle >	AngleList
typedef std::list< IWire * >	WireContainer
typedef lpzrobots::Bumper	Bumper
typedef vector< AbstractObstacle * >	ObstacleList
typedef vector< Configurable * >	ConfigList
typedef vector< OdeAgent * >	OdeAgentList
typedef lpzrobots::GlobalData	GlobalData
	Data structure holding all essential global information.
typedef Vector3< double >	DVector3
typedef Vector3< float >	FVector3
Enumerations
enum	parts {   base, upperArm, lowerArm, mainMuscle11,   mainMuscle12, mainMuscle21, mainMuscle22, smallMuscle11,   smallMuscle12, smallMuscle21, smallMuscle22, smallMuscle31,   smallMuscle32, smallMuscle41, smallMuscle42, hand,   NUMParts }
enum	joints {   HJ_BuA, HJ_uAlA, HJ_BmM11, HJ_lAmM12,   HJ_BmM21, HJ_lAmM22, HJ_BsM11, HJ_uAsM12,   HJ_BsM21, HJ_uAsM22, HJ_lAsM31, HJ_uAsM32,   HJ_lAsM41, HJ_uAsM42, SJ_mM1, SJ_mM2,   SJ_sM1, SJ_sM2, SJ_sM3, SJ_sM4,   NUMJoints }
enum	CameraType {   Static, TV, Following, advancedTV,   advancedFollowing }
Functions
ref_ptr< Material >	getMaterial (const Color &c, Material::ColorMode mode=Material::DIFFUSE)
osg::Matrix	osgPose (dGeomID geom)
	returns the osg (4x4) pose matrix of the ode geom
osg::Matrix	osgPose (dBodyID body)
	returns the osg (4x4) pose matrix of the ode body
osg::Matrix	osgPose (const double *position, const double *rotation)
	converts a position vector and a rotation matrix from ode to osg 4x4 matrix
void	odeRotation (const osg::Matrix &pose, dMatrix3 &odematrix)
	converts the rotation component of pose into an ode rotation matrix
int	contains (char **list, int len, const char *str)
	returns the index+1 if the list contains the given string or 0 if not
void	showParams (const ConfigList &configs)
	shows all parameters of all given configurable objects
void	changeParams (ConfigList &configs)
	offers the possibility to change parameter of all configurable objects
void	createNewDir (const char *base, char *newdir)
	creates a new directory with the stem base, which is not yet there (using subsequent numbers)
void	moveCamera (CameraType camType, OdeRobot &robot)
void	moveBehindRobot (OdeRobot &robot)
void	moveOnRobot (OdeRobot &robot)
void	printMode (CameraType camType)
	EXCEPTION_TEMPLATE (IndexOutOfBoundsException)
	EXCEPTION_TEMPLATE (InvalidArgumentException)
	EXCEPTION_TEMPLATE (DimensionMismatchException)
Matrix	osgMatrix2Matrixlib (const osg::Matrix &m)
	converts osg matrix to matrix of matrixlib
osg::Matrix	rotationMatrixFromAxisX (const Axis &axis)
	returns a Rotation matrix that rotates the x-axis along with the given axis.
osg::Matrix	rotationMatrixFromAxisZ (const Axis &axis)
	returns a Rotation matrix that rotates the z-axis along with the given axis.
double	getAngle (const osg::Vec3 &a, const osg::Vec3 &b)
	returns the angle between two vectors (in rad)
Position	multMatrixPosition (const Matrix &r, Position &p)
Matrix	getRotationMatrix (const double &angle)
	returns a rotation matrix with the given angle
Matrix	getTranslationMatrix (const Position &p)
	returns a translation matrix with the given Position
Matrix	removeTranslationInMatrix (const Matrix &pose)
Matrix	removeRotationInMatrix (const Matrix &pose)
double	getAngle (Position a, Position b)
	returns the angle between two vectors
template<typename T>
T	clip (T v, T minimum, T maximum)
template<typename T>
T	abs (T v)
template<typename T>
T	normalize360 (T v)
Position	multMatrixPosition (const matrix::Matrix &r, Position &p)
	Multiplies 3x3 matrix with position.
matrix::Matrix	removeTranslationInMatrix (const matrix::Matrix &pose)
	removes the translation in the matrix
matrix::Matrix	removeRotationInMatrix (const matrix::Matrix &pose)
	removes the rotation in the matrix
template<typename T>
Vector< T >	solve (const TriDiagonalMatrix< T > &r_mat, const Vector< T > &r_vector)
	solve

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Typedef Documentation

typedef Vector3<dReal> Angle

Definition at line 95 of file component.h.

typedef std::list< Angle > AngleList

Definition at line 96 of file component.h.

typedef struct lpzrobots::Bumper Bumper

typedef std::list<IComponent*> ComponentContainer

Definition at line 87 of file component.h.

typedef vector<Configurable*> ConfigList

Definition at line 58 of file globaldata.h.

typedef Vector3<double> DVector3

Definition at line 297 of file vector.h.

typedef Vector3<float> FVector3

Definition at line 298 of file vector.h.

typedef struct lpzrobots::GlobalData GlobalData

Data structure holding all essential global information. Examples: nimm2.cpp, and nimm4.cpp.

typedef vector<AbstractObstacle*> ObstacleList

Definition at line 55 of file globaldata.h.

typedef vector<OdeAgent*> OdeAgentList

Definition at line 59 of file globaldata.h.

typedef Vector3<dReal> Vertex

Definition at line 91 of file component.h.

typedef std::list< Vertex > VertexList

Definition at line 92 of file component.h.

typedef std::list<IWire*> WireContainer

Definition at line 98 of file component.h.

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Enumeration Type Documentation

enum CameraType

Enumerator: Static  TV  Following  advancedTV  advancedFollowing  Definition at line 67 of file camera.h.

enum joints

Enumerator: HJ_BuA  HJ_uAlA  HJ_BmM11  HJ_lAmM12  HJ_BmM21  HJ_lAmM22  HJ_BsM11  HJ_uAsM12  HJ_BsM21  HJ_uAsM22  HJ_lAsM31  HJ_uAsM32  HJ_lAsM41  HJ_uAsM42  SJ_mM1  SJ_mM2  SJ_sM1  SJ_sM2  SJ_sM3  SJ_sM4  NUMJoints  Definition at line 99 of file muscledarm.h.

enum parts

Enumerator: base  upperArm  lowerArm  mainMuscle11  mainMuscle12  mainMuscle21  mainMuscle22  smallMuscle11  smallMuscle12  smallMuscle21  smallMuscle22  smallMuscle31  smallMuscle32  smallMuscle41  smallMuscle42  hand  NUMParts  Definition at line 83 of file muscledarm.h.

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Function Documentation

T lpzrobots::abs (  T  v  )  [inline]

Definition at line 78 of file mathutils.h.

void changeParams (  ConfigList &  configs  )

offers the possibility to change parameter of all configurable objects Definition at line 782 of file simulation.cpp.

T lpzrobots::clip (  T  v, T  minimum, T  maximum )  [inline]

Definition at line 74 of file mathutils.h.

int contains (  char **  list, int  len, const char *  str )

returns the index+1 if the list contains the given string or 0 if not Examples: main.cpp. Definition at line 760 of file simulation.cpp.

void createNewDir (  const char *  base, char *  newdir )

creates a new directory with the stem base, which is not yet there (using subsequent numbers) Definition at line 802 of file simulation.cpp.

lpzrobots::EXCEPTION_TEMPLATE (  DimensionMismatchException   )

lpzrobots::EXCEPTION_TEMPLATE (  InvalidArgumentException   )

lpzrobots::EXCEPTION_TEMPLATE (  IndexOutOfBoundsException   )

double getAngle (  Position  a, Position  b )

returns the angle between two vectors Definition at line 159 of file mathutils.cpp.

double getAngle (  const osg::Vec3 &  a, const osg::Vec3 &  b )

returns the angle between two vectors (in rad) Definition at line 95 of file mathutils.cpp.

ref_ptr< Material > getMaterial (  const Color &  c, Material::ColorMode  mode = Material::DIFFUSE )

Definition at line 329 of file osgprimitive.cpp.

matrix::Matrix getRotationMatrix (  const double &  angle  )

returns a rotation matrix with the given angle Definition at line 115 of file mathutils.cpp.

matrix::Matrix getTranslationMatrix (  const Position &  p  )

returns a translation matrix with the given Position Definition at line 126 of file mathutils.cpp.

void lpzrobots::moveBehindRobot (  OdeRobot &  robot  )

void lpzrobots::moveCamera (  CameraType  camType, OdeRobot &  robot )

void lpzrobots::moveOnRobot (  OdeRobot &  robot  )

Position lpzrobots::multMatrixPosition (  const matrix::Matrix &  r, Position &  p )

Multiplies 3x3 matrix with position.

Position lpzrobots::multMatrixPosition (  const Matrix &  r, Position &  p )

Definition at line 105 of file mathutils.cpp.

T lpzrobots::normalize360 (  T  v  )  [inline]

Definition at line 82 of file mathutils.h.

void odeRotation (  const osg::Matrix &  pose, dMatrix3 &  odematrix )

converts the rotation component of pose into an ode rotation matrix Definition at line 95 of file primitive.cpp.

matrix::Matrix osgMatrix2Matrixlib (  const osg::Matrix &  m  )

converts osg matrix to matrix of matrixlib Definition at line 64 of file mathutils.cpp.

osg::Matrix osgPose (  const double *  V, const double *  R )

converts a position vector and a rotation matrix from ode to osg 4x4 matrix Definition at line 87 of file primitive.cpp.

osg::Matrix osgPose (  dBodyID  body  )

returns the osg (4x4) pose matrix of the ode body Definition at line 82 of file primitive.cpp.

osg::Matrix osgPose (  dGeomID  geom  )

returns the osg (4x4) pose matrix of the ode geom Definition at line 77 of file primitive.cpp.

void lpzrobots::printMode (  CameraType  camType  )

matrix::Matrix lpzrobots::removeRotationInMatrix (  const matrix::Matrix &  pose  )

removes the rotation in the matrix

Matrix lpzrobots::removeRotationInMatrix (  const Matrix &  pose  )

Definition at line 149 of file mathutils.cpp.

matrix::Matrix lpzrobots::removeTranslationInMatrix (  const matrix::Matrix &  pose  )

removes the translation in the matrix

Matrix lpzrobots::removeTranslationInMatrix (  const Matrix &  pose  )

Definition at line 137 of file mathutils.cpp.

osg::Matrix rotationMatrixFromAxisX (  const Axis &  axis  )

returns a Rotation matrix that rotates the x-axis along with the given axis. The other 2 axis (y,z) are ambiguous. Definition at line 79 of file mathutils.cpp.

osg::Matrix rotationMatrixFromAxisZ (  const Axis &  axis  )

returns a Rotation matrix that rotates the z-axis along with the given axis. The other 2 axis (x,y) are ambiguous. Definition at line 87 of file mathutils.cpp.

void showParams (  const ConfigList &  configs  )

shows all parameters of all given configurable objects Examples: main.cpp. Definition at line 775 of file simulation.cpp.

Vector< T > solve (  const TriDiagonalMatrix< T > &  r_mat, const Vector< T > &  r_vector )

solve special solve function for tridiagonal matrices status: tested! (high chance that this function yields correct results) Definition at line 288 of file matrices.h.

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