HurlingSnake Class Reference

Hurling snake is a string a beats. More...

#include <hurlingsnake.h>

Inherits lpzrobots::OdeRobot.

Collaboration diagram for HurlingSnake:
Collaboration graph
[legend]

List of all members.

Public Member Functions

 HurlingSnake (const OdeHandle &odeHandle, const OsgHandle &osgHandle, const std::string &name)
 Constructor.
virtual void update ()
 update the subcomponents
virtual void place (const osg::Matrix &pose)
 sets the pose of the vehicle
virtual void doInternalStuff (GlobalData &globalData)
 checks for internal collisions and treats them.
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 paramlist getParamList () const
 The list of all parameters with there value as allocated lists.
virtual paramval getParam (const paramkey &key) const
 returns the value of the requested parameter or 0 (+ error message to stderr) if unknown.
virtual bool setParam (const paramkey &key, paramval val)
 sets the value of the given parameter or does nothing if unknown.

Protected Member Functions

virtual PrimitivegetMainPrimitive () const
 the main object of the robot, which is used for position and speed tracking

Detailed Description

Hurling snake is a string a beats.


Constructor & Destructor Documentation

HurlingSnake ( const OdeHandle odeHandle,
const OsgHandle osgHandle,
const std::string &  name 
)

Constructor.

Parameters:
w world in which robot should be created
s space in which robot should be created
c contactgroup for collision treatment

Member Function Documentation

void doInternalStuff ( GlobalData globalData  )  [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). 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 Primitive* getMainPrimitive (  )  const [inline, protected, virtual]

the main object of the robot, which is used for position and speed tracking

Implements OdeRobot.

int getMotorNumber (  )  [virtual]

returns number of motors

Implements AbstractRobot.

Configurable::paramval getParam ( const paramkey key  )  const [virtual]

returns the value of the requested parameter or 0 (+ error message to stderr) if unknown.

Reimplemented from Configurable.

Configurable::paramlist getParamList (  )  const [virtual]

The list of all parameters with there value as allocated lists.

Reimplemented from Configurable.

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
Parameters:
vector of positions (of all robot segments)
Returns:
length of the list
int getSensorNumber (  )  [virtual]

returns number of sensors

Implements AbstractRobot.

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.

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

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.

bool setParam ( const paramkey key,
paramval  val 
) [virtual]

sets the value of the given parameter or does nothing if unknown.

Reimplemented from Configurable.

void update (  )  [virtual]

update the subcomponents

Implements OdeRobot.


The documentation for this class was generated from the following files:
Generated on Fri Nov 4 10:59:41 2011 for Robot Simulator of the Robotics Group for Self-Organization of Control by  doxygen 1.6.3