This is a class, which models a snake like robot. More...
#include <caterpillar.h>
Inherits lpzrobots::DefaultCaterPillar.
Public Member Functions | |
CaterPillar (const OdeHandle &odeHandle, const OsgHandle &osgHandle, const CaterPillarConf &conf, const std::string &name) | |
virtual | ~CaterPillar () |
virtual void | setMotors (const motor *motors, int motornumber) |
Reads the actual motor commands from an array, an sets all motors of the snake to this values. | |
virtual int | getSensors (sensor *sensors, int sensornumber) |
Writes the sensor values to an array in the memory. | |
virtual int | getSensorNumber () |
returns number of sensors | |
virtual int | getMotorNumber () |
returns number of motors | |
virtual bool | setParam (const paramkey &key, paramval val) |
sets the value of the given parameter or does nothing if unknown. |
This is a class, which models a snake like robot.
It consists of a number of equal elements, each linked by a joint powered by 2 servos
CaterPillar | ( | const OdeHandle & | odeHandle, | |
const OsgHandle & | osgHandle, | |||
const CaterPillarConf & | conf, | |||
const std::string & | name | |||
) |
~CaterPillar | ( | ) | [virtual] |
virtual int getMotorNumber | ( | ) | [inline, virtual] |
returns number of motors
Implements DefaultCaterPillar.
virtual int getSensorNumber | ( | ) | [inline, virtual] |
returns number of sensors
Implements DefaultCaterPillar.
int getSensors | ( | sensor * | sensors, | |
int | sensornumber | |||
) | [virtual] |
Writes the sensor values to an array in the memory.
sensors | pointer to the array | |
sensornumber | length of the sensor array |
sensor* | pointer to the arrays | |
sensornumber | length of the sensor array |
Implements DefaultCaterPillar.
void setMotors | ( | const motor * | motors, | |
int | motornumber | |||
) | [virtual] |
Reads the actual motor commands from an array, an sets all motors of the snake to this values.
Reads the actual motor commands from an array, and sets all motors (forces) of the snake to this values.
It is an linear allocation.
motors | pointer to the array, motor values are scaled to [-1,1] | |
motornumber | length of the motor array |
It is a linear allocation.
motors | pointer to the array, motor values are scaled to [-1,1] | |
motornumber | length of the motor array |
Implements DefaultCaterPillar.
sets the value of the given parameter or does nothing if unknown.
Reimplemented from DefaultCaterPillar.