TruckMesh Class Reference
Robot that looks like a Nimm 2 Bonbon :-) 4 wheels and a truck mesh like body.
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#include <truckmesh.h>
Inherits lpzrobots::OdeRobot.
List of all members.
Public Member Functions |
| TruckMesh (const OdeHandle &odeHandle, const OsgHandle &osgHandle, const std::string &name, double size=1, double force=3, double speed=15, double mass=1) |
| constructor of TruckMesh robot
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virtual | ~TruckMesh () |
virtual void | update () |
| updates the OSG nodes of the vehicle
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virtual void | place (const osg::Matrix &pose) |
| sets the pose of the vehicle
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virtual int | getSensors (sensor *sensors, int sensornumber) |
| returns actual sensorvalues
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virtual void | setMotors (const motor *motors, int motornumber) |
| sets actual motorcommands
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virtual int | getSensorNumber () |
| returns number of sensors
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virtual int | getMotorNumber () |
| returns number of motors
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virtual bool | collisionCallback (void *data, dGeomID o1, dGeomID o2) |
| checks for internal collisions and treats them.
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virtual void | doInternalStuff (GlobalData &globalData) |
| this function is called in each timestep.
|
Protected Member Functions |
virtual Primitive * | getMainPrimitive () const |
| the main object of the robot, which is used for position and speed tracking
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virtual void | create (const osg::Matrix &pose) |
| creates vehicle at desired pose
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virtual void | destroy () |
| destroys vehicle and space
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Static Protected Member Functions |
static void | mycallback (void *data, dGeomID o1, dGeomID o2) |
| additional things for collision handling can be done here
|
Protected Attributes |
double | length |
double | width |
double | middlewidth |
double | middlelength |
double | height |
double | radius |
double | wheelthickness |
double | cmass |
double | wmass |
int | sensorno |
int | motorno |
int | segmentsno |
double | speed |
bool | drawBoundings |
double | max_force |
bool | created |
Primitive * | object [7] |
Hinge2Joint * | joint [6] |
Detailed Description
Robot that looks like a Nimm 2 Bonbon :-) 4 wheels and a truck mesh like body.
Constructor & Destructor Documentation
TruckMesh |
( |
const OdeHandle & |
odeHandle, |
|
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const OsgHandle & |
osgHandle, |
|
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const std::string & |
name, |
|
|
double |
size = 1 , |
|
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double |
force = 3 , |
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double |
speed = 15 , |
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double |
mass = 1 | |
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) |
| | |
constructor of TruckMesh robot
- Parameters:
-
| odeHandle | data structure for accessing ODE |
| osgHandle | ata structure for accessing OSG |
| size | scaling of robot |
| force | maximal used force to realize motorcommand |
| speed | factor for changing speed of robot |
Member Function Documentation
bool collisionCallback |
( |
void * |
data, |
|
|
dGeomID |
o1, |
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dGeomID |
o2 | |
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) |
| | [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).
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 |
void destroy |
( |
|
) |
[protected, virtual] |
destroys vehicle and space
void doInternalStuff |
( |
GlobalData & |
global |
) |
[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 |
It should perform robot-internal checks, like space-internal collision detection, sensor resets/update etc.
- Parameters:
-
| global | 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.
virtual int getMotorNumber |
( |
|
) |
[inline, virtual] |
virtual int getSensorNumber |
( |
|
) |
[inline, virtual] |
int getSensors |
( |
sensor * |
sensors, |
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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.
void mycallback |
( |
void * |
data, |
|
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dGeomID |
o1, |
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dGeomID |
o2 | |
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) |
| | [static, protected] |
additional things for collision handling can be done here
things for collision handling inside the space of the robot can be done here
sets the pose of the vehicle
- Parameters:
-
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 |
( |
|
) |
[virtual] |
updates the OSG nodes of the vehicle
updates the osg notes
Implements OdeRobot.
Member Data Documentation
The documentation for this class was generated from the following files: