SliderWheelie Class Reference

This is a class, which models an annular robot. More...

#include <sliderwheelie.h>

Inherits lpzrobots::OdeRobot.

Collaboration diagram for SliderWheelie:
Collaboration graph
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List of all members.

Public Member Functions

 SliderWheelie (const OdeHandle &odeHandle, const OsgHandle &osgHandle, const SliderWheelieConf &conf, const std::string &name, const std::string &revision="")
virtual ~SliderWheelie ()
virtual void place (const osg::Matrix &pose)
 sets the pose of the vehicle
virtual void update ()
 update the OSG notes here
void doInternalStuff (GlobalData &global)
 this function is called in each simulation timestep (always after control).
bool collisionCallback (void *data, dGeomID o1, dGeomID o2)
virtual void setMotors (const motor *motors, int motornumber)
 sets actual motorcommands
virtual int getSensors (sensor *sensors, int sensornumber)
 returns actual sensorvalues
virtual int getSensorNumber ()
 returns number of sensors
virtual int getMotorNumber ()
 returns number of motors
virtual PrimitivegetMainPrimitive () const
 return the primitive of the robot that is used for tracking and camera following
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.

Static Public Member Functions

static SliderWheelieConf getDefaultConf ()

Detailed Description

This is a class, which models an annular robot.

It consists of a number of equal elements, each linked by a joint powered by 1 servo


Constructor & Destructor Documentation

SliderWheelie ( const OdeHandle odeHandle,
const OsgHandle osgHandle,
const SliderWheelieConf conf,
const std::string &  name,
const std::string &  revision = "" 
)
~SliderWheelie (  )  [virtual]

Member Function Documentation

bool collisionCallback ( void *  data,
dGeomID  o1,
dGeomID  o2 
) [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 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.

static SliderWheelieConf getDefaultConf (  )  [inline, static]
virtual Primitive* getMainPrimitive (  )  const [inline, virtual]

return the primitive of the robot that is used for tracking and camera following

Implements OdeRobot.

virtual int getMotorNumber (  )  [inline, 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.

Returns:
list of parameters

Reimplemented from Configurable.

virtual int getSensorNumber (  )  [inline, 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

update center position

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 OSG notes here

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