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

# BoxRingOperator Class Reference

An Operator for keeping robots within a sphere / box. More...

`#include <operators.h>`

Inherits lpzrobots::Operator.

Collaboration diagram for BoxRingOperator:
[legend]

List of all members.

## Public Member Functions
| BoxRingOperator (const Pos &center, double size, double offset, double force, bool sphere=false)
| a box ring (cube with edges 2*size or sphere with radius size)
virtual ManipType | observe (OdeAgent *agent, GlobalData &global, ManipDescr &descr)
| called every simulation step
## Protected Attributes
Pos | center
double | size
double | offset
double | force
bool | sphere

## Detailed Description

An Operator for keeping robots within a sphere / box.

## Constructor & Destructor Documentation

BoxRingOperator | ( | const Pos & | center,
|  | double | size,
|  | double | offset,
|  | double | force,
|  | bool | sphere = `false` |
| ) |  |  | `[inline]`

a box ring (cube with edges 2*size or sphere with radius size)

Parameters:

  | offset | distance to wall before acting (to compensate for body width) spherical or box shape area

## Member Function Documentation

Operator::ManipType observe | ( | OdeAgent * | agent,
|  | GlobalData & | global,
|  | ManipDescr & | descr |
| ) |  |  | `[virtual]`

called every simulation step

Returns:
  what was done with the robot

Implements Operator.

## Member Data Documentation

Pos center`[protected]`

double force`[protected]`

double offset`[protected]`

double size`[protected]`

bool sphere`[protected]`

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

- operators.h
- operators.cpp