Robot Simulator of the Robotics Group for Self-Organization of Control: ReplayRobot Class Reference

# ReplayRobot Class Reference

`#include <replayrobot.h>`

Inherits lpzrobots::OdeRobot.

Collaboration diagram for ReplayRobot:
[legend]

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.
## 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

ReplayRobot | ( | const OdeHandle & | odeHandle,
|  | const OsgHandle & | osgHandle,
|  | const char * | filename |
| ) |  |  |

~ReplayRobot | ( |  | ) |

## Member Function Documentation

bool check4Number | ( | const char * | c | ) | `[static, protected]`

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

Reimplemented from OdeRobot.

virtual int getMotorNumber | ( |  | ) | `[inline, virtual]`

returns number of motors

Implements AbstractRobot.

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.

bool isEmpty | ( | const char * | c | ) | `[static, protected]`

bool parseDataFileForHeader | ( | FILE * | f,
|  | int & | sensorstart,
|  | int & | sensorend,
|  | int & | motorstart,
|  | 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

FILE* f`[protected]`

const char* filename`[protected]`

int motorEnd`[protected]`

int motorStart`[protected]`

int sensorEnd`[protected]`

matrix::Matrix sensors`[protected]`

int sensorStart`[protected]`

The documentation for this class was generated from the following files:

- replayrobot.h
- replayrobot.cpp