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

# Uwo Class Reference

UWO: Unknown Walk Object :-), looks like a plate with a lot of legs. More...

`#include <uwo.h>`

Inherits lpzrobots::OdeRobot.

Collaboration diagram for Uwo:
[legend]

List of all members.

## Public Member Functions
| Uwo (const OdeHandle &odeHandle, const OsgHandle &osgHandle, const UwoConf &conf, const std::string &name)
| constructor of uwo robot
virtual | ~Uwo ()
virtual void | update ()
| updates the OSG nodes of the vehicle
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 void | notifyOnChange (const paramkey &key)
| Is called when a parameter was changes via setParam().
## Static Public Member Functions
static UwoConf | getDefaultConf ()
## Protected Member Functions
virtual Primitive * | getMainPrimitive () const
| the main object of the robot, which is used for position and speed tracking
virtual void | create (const osg::Matrix &pose)
| creates vehicle at desired pose
virtual void | destroy ()
| destroys vehicle and space
## Protected Attributes
UwoConf | conf
double | legmass
bool | created
std::vector< UniversalServo * > | servos

## Detailed Description

UWO: Unknown Walk Object :-), looks like a plate with a lot of legs.

## Constructor & Destructor Documentation

Uwo | ( | const OdeHandle & | odeHandle,
|  | const OsgHandle & | osgHandle,
|  | const UwoConf & | conf,
|  | const std::string & | name |
| ) |  |  |

constructor of uwo robot

Parameters:

  | odeHandle | data structure for accessing ODE
  | osgHandle | ata structure for accessing OSG
  | size | scaling of robot
  | force | maximal used force to realize motorcommand
  | radialLegs | switches between cartensian and radial leg joints

virtual ~Uwo | ( |  | ) | `[inline, virtual]`

## Member Function Documentation

void create | ( | const osg::Matrix & | pose | ) | `[protected, virtual]`

creates vehicle at desired pose

Parameters:

  | pose | 4x4 pose matrix

void destroy | ( |  | ) | `[protected, virtual]`

destroys vehicle and space

void doInternalStuff | ( | GlobalData & | globalData | ) | `[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.

static UwoConf getDefaultConf | ( |  | ) | `[inline, static]`

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.

void notifyOnChange | ( | const paramkey & | key | ) | `[virtual]`

Is called when a parameter was changes via setParam().

Note that it is not called of parameters of childs are changed, then there notifyOnChange() method is called. The key and of the changed parameter (use getParam() to retrieve its actual value). Overload this function when special actions have to be taken on parameter changes.

Reimplemented from Configurable.

void place | ( | const osg::Matrix & | pose | ) | `[virtual]`

sets the pose of the vehicle

Parameters:

  | pose | desired 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.

void update | ( |  | ) | `[virtual]`

updates the OSG nodes of the vehicle

Implements OdeRobot.

## Member Data Documentation

UwoConf conf`[protected]`

bool created`[protected]`

double legmass`[protected]`

std::vector<UniversalServo*> servos`[protected]`

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

- uwo.h
- uwo.cpp