Hurling snake is a string a beats. More...
#include <hurlingsnake.h>
Inherits lpzrobots::OdeRobot.
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 Primitive * | getMainPrimitive () const |
the main object of the robot, which is used for position and speed tracking |
Hurling snake is a string a beats.
HurlingSnake | ( | const OdeHandle & | odeHandle, | |
const OsgHandle & | osgHandle, | |||
const std::string & | name | |||
) |
Constructor.
w | world in which robot should be created | |
s | space in which robot should be created | |
c | contactgroup for collision treatment |
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.
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
poslist | vector of positions (of all robot segments) |
vector | of positions (of all robot segments) |
int getSensorNumber | ( | ) | [virtual] |
returns number of sensors
Implements AbstractRobot.
int getSensors | ( | sensor * | sensors, | |
int | sensornumber | |||
) | [virtual] |
returns actual sensorvalues
sensors | sensors scaled to [-1,1] | |
sensornumber | length of the sensor array |
Implements AbstractRobot.
void place | ( | const osg::Matrix & | pose | ) | [virtual] |
void setMotors | ( | const motor * | motors, | |
int | motornumber | |||
) | [virtual] |
sets actual motorcommands
motors | motors scaled to [-1,1] | |
motornumber | length of the motor array |
Implements AbstractRobot.
sets the value of the given parameter or does nothing if unknown.
Reimplemented from Configurable.
void update | ( | ) | [virtual] |
update the subcomponents
Implements OdeRobot.