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

# ShortCircuit Class Reference

`#include <shortcircuit.h>`

Inherits lpzrobots::OdeRobot.

Collaboration diagram for ShortCircuit:
[legend]

List of all members.

## Public Member Functions
| ShortCircuit (const OdeHandle &odeHandle, const OsgHandle &osgHandle, int sensornumber, int motornumber)
virtual | ~ShortCircuit ()
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
## Protected Attributes
DummyPrimitive * | dummy
int | sensorno
int | motorno
motor * | motors

## Constructor & Destructor Documentation

ShortCircuit | ( | const OdeHandle & | odeHandle,
|  | const OsgHandle & | osgHandle,
|  | int | sensornumber,
|  | int | motornumber |
| ) |  |  |

~ShortCircuit | ( |  | ) | `[virtual]`

## Member Function Documentation

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

Parameters:

  | sensors | sensors scaled to [-1,1] (more or less)
  | sensornumber | length of the sensor array

Returns:
  number of actually written sensors

Implements AbstractRobot.

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
  | _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

DummyPrimitive* dummy`[protected]`

int motorno`[protected]`

motor* motors`[protected]`

int sensorno`[protected]`

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

- shortcircuit.h
- shortcircuit.cpp