ForcedSphere Class Reference
#include <forcedsphere.h>
Inherits lpzrobots::OdeRobot.
List of all members.
Member Enumeration Documentation
Constructor & Destructor Documentation
constructor
use getDefaultConf() to obtain a configuration with default values, which can be altered to personal needs.
Member Function Documentation
bool collisionCallback |
( |
void * |
data, |
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dGeomID |
o1, |
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dGeomID |
o2 | |
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) |
| | [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] |
void destroy |
( |
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[protected, virtual] |
void doInternalStuff |
( |
GlobalData & |
globalData |
) |
[virtual] |
this function is called in each simulation timestep (always after control).
It should perform robot-internal checks and actions like resetting certain sensors or implement velocity dependend friction and the like. The attached Motors should act here.
- Parameters:
-
| globalData | structure that contains global data from the simulation environment |
Reimplemented from OdeRobot.
virtual Primitive* getMainPrimitive |
( |
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) |
const [inline, virtual] |
return the primitive of the robot that is used for tracking and camera following
Implements OdeRobot.
int getMotorNumber |
( |
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) |
[virtual] |
int getSensorNumber |
( |
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[virtual] |
int getSensors |
( |
sensor * |
sensors, |
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int |
sensornumber | |
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) |
| | [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.
sets the pose of the vehicle
- Parameters:
-
| pose | desired 4x4 pose matrix |
Implements OdeRobot.
void setMotors |
( |
const motor * |
motors, |
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int |
motornumber | |
|
) |
| | [virtual] |
sets actual motorcommands
- Parameters:
-
| motors | motors scaled to [-1,1] |
| motornumber | length of the motor array |
Implements AbstractRobot.
void update |
( |
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) |
[virtual] |
update the OSG notes here
Implements OdeRobot.
Member Data Documentation
The documentation for this class was generated from the following files: