Nimm2 Class Reference
Robot that looks like a Nimm 2 Bonbon :-) 2 wheels and a cylinder like body.
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#include <nimm2.h>
Inherits lpzrobots::OdeRobot.
Inherited by TwoWheeled.
List of all members.
Public Member Functions |
| Nimm2 (const OdeHandle &odehandle, const OsgHandle &osgHandle, const Nimm2Conf &conf, const std::string &name) |
virtual | ~Nimm2 () |
virtual void | update () |
| updates the OSG nodes of the vehicle
|
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 int | getSegmentsPosition (std::vector< Position > &poslist) |
| returns a vector with the positions of all segments of the robot
|
virtual bool | collisionCallback (void *data, dGeomID o1, dGeomID o2) |
virtual void | doInternalStuff (GlobalData &globalData) |
| this function is called in each timestep.
|
virtual double & | getSumForce () |
virtual double & | getContactPoints () |
Static Public Member Functions |
static Nimm2Conf | getDefaultConf () |
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 pose
|
virtual void | destroy () |
| destroys vehicle and space
|
Static Protected Member Functions |
static void | mycallback (void *data, dGeomID o1, dGeomID o2) |
Protected Attributes |
double | contactPoints |
Nimm2Conf | conf |
| Inspectable interface.
|
double | length |
double | width |
double | height |
double | radius |
double | wheelthickness |
double | cmass |
double | wmass |
int | sensorno |
int | motorno |
bool | created |
double | max_force |
Primitive * | object [3] |
double | wheeloffset |
int | number_bumpers |
Bumper | bumper [2] |
Hinge2Joint * | joint [2] |
RaySensorBank | irSensorBank |
bool | visForce |
double | sumForce |
Detailed Description
Robot that looks like a Nimm 2 Bonbon :-) 2 wheels and a cylinder like body.
Constructor & Destructor Documentation
Member Function Documentation
bool collisionCallback |
( |
void * |
data, |
|
|
dGeomID |
o1, |
|
|
dGeomID |
o2 | |
|
) |
| | [virtual] |
- Deprecated:
- Do not use it anymore, collision control is done automatically. 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).
Reimplemented from OdeRobot.
void create |
( |
const osg::Matrix & |
pose |
) |
[protected, virtual] |
creates vehicle at desired pose
creates vehicle at desired position
- Parameters:
-
| pose | 4x4 pose matrix |
| pos | struct Position with desired position |
Reimplemented in TwoWheeled.
void destroy |
( |
|
) |
[protected, virtual] |
destroys vehicle and space
Reimplemented in TwoWheeled.
void doInternalStuff |
( |
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 |
Reimplemented from OdeRobot.
virtual double& getContactPoints |
( |
|
) |
[inline, virtual] |
static Nimm2Conf getDefaultConf |
( |
|
) |
[inline, static] |
virtual Primitive* getMainPrimitive |
( |
|
) |
const [inline, protected, virtual] |
the main object of the robot, which is used for position and speed tracking
Implements OdeRobot.
virtual int getMotorNumber |
( |
|
) |
[inline, virtual] |
int getSegmentsPosition |
( |
std::vector< Position > & |
poslist |
) |
[virtual] |
returns a vector with the positions of all segments of the robot
- Parameters:
-
| poslist | vector of positions (of all robot segments) |
- Returns:
- length of the list
virtual int getSensorNumber |
( |
|
) |
[inline, virtual] |
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
- Parameters:
-
| sensors | sensors scaled to [-1,1] (more or less) |
| sensornumber | length of the sensor array |
- Returns:
- number of actually written sensors
Implements AbstractRobot.
Reimplemented in TwoWheeled.
virtual double& getSumForce |
( |
|
) |
[inline, virtual] |
static void mycallback |
( |
void * |
data, |
|
|
dGeomID |
o1, |
|
|
dGeomID |
o2 | |
|
) |
| | [static, protected] |
sets the pose of the vehicle
- Parameters:
-
| pose | desired 4x4 pose matrix |
Implements OdeRobot.
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.
void update |
( |
|
) |
[virtual] |
updates the OSG nodes of the vehicle
updates the osg notes and sensorbank
Implements OdeRobot.
Reimplemented in TwoWheeled.
Member Data Documentation
The documentation for this class was generated from the following files: