ReplayRobot Class Reference
#include <replayrobot.h>
Inherits lpzrobots::OdeRobot.
List of all members.
Public Member Functions |
| ReplayRobot (const OdeHandle &odeHandle, const OsgHandle &osgHandle, const char *filename) |
| ~ReplayRobot () |
virtual void | update () |
| update the OSG notes here
|
virtual void | place (const osg::Matrix &pose) |
| sets the pose of the vehicle
|
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 void | doInternalStuff (GlobalData &globalData) |
| this function is called in each timestep.
|
virtual bool | collisionCallback (void *data, dGeomID o1, dGeomID o2) |
Protected Member Functions |
virtual Primitive * | getMainPrimitive () const |
| the main object of the robot, which is used for position and speed tracking
|
Static Protected Member Functions |
static bool | parseDataFileForHeader (FILE *f, int &sensorstart, int &sensorend, int &motorstart, int &motorend) |
static bool | parseDataLine (matrix::Matrix &data, FILE *f) |
static bool | isEmpty (const char *c) |
static bool | check4Number (const char *c) |
Protected Attributes |
int | sensorStart |
int | sensorEnd |
int | motorStart |
int | motorEnd |
matrix::Matrix | sensors |
const char * | filename |
FILE * | f |
Constructor & Destructor Documentation
Member Function Documentation
bool check4Number |
( |
const char * |
c |
) |
[static, protected] |
virtual bool collisionCallback |
( |
void * |
data, |
|
|
dGeomID |
o1, |
|
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dGeomID |
o2 | |
|
) |
| | [inline, 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.
virtual void doInternalStuff |
( |
GlobalData & |
globalData |
) |
[inline, 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 |
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 |
( |
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) |
[inline, virtual] |
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.
bool isEmpty |
( |
const char * |
c |
) |
[static, protected] |
bool parseDataFileForHeader |
( |
FILE * |
f, |
|
|
int & |
sensorstart, |
|
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int & |
sensorend, |
|
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int & |
motorstart, |
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int & |
motorend | |
|
) |
| | [static, protected] |
bool parseDataLine |
( |
matrix::Matrix & |
data, |
|
|
FILE * |
f | |
|
) |
| | [static, protected] |
virtual void place |
( |
const osg::Matrix & |
pose |
) |
[inline, 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 |
Implements AbstractRobot.
virtual void update |
( |
|
) |
[inline, virtual] |
update the OSG notes here
Implements OdeRobot.
Member Data Documentation
The documentation for this class was generated from the following files: