AmosII Class Reference

#include <amosII.h>

Inherits lpzrobots::OdeRobot, and Inspectable.

Collaboration diagram for AmosII:

Classes
struct	Leg
Public Types
enum	LegPos { L0, L1, L2, R0, R1, R2, LEG_POS_MAX }
enum	LegPosUsage { LEG, WHEEL, UNUSED }
enum	LegJointType { TC, CTR, FTI, LEG_JOINT_TYPE_MAX }
typedef AmosIIMotorNames	MotorName
typedef AmosIISensorNames	SensorName
Public Member Functions
	AmosII (const OdeHandle &odeHandle, const OsgHandle &osgHandle, const AmosIIConf &conf=getDefaultConf(), const std::string &name="AmosII robot")
	constructor
virtual	~AmosII ()
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 double	getMassOfRobot ()
void	setLegPosUsage (LegPos leg, LegPosUsage usage)
virtual bool	setParam (const paramkey &key, paramval val)
virtual Primitive *	getMainPrimitive () const
	the main object of the robot, which is used for position and speed tracking
Static Public Member Functions
static AmosIIConf	getDefaultConf (double _scale=1.0, bool _useShoulder=1, bool _useFoot=1, bool _useBack=0)
	Returns the default configuration values.
static AmosIIConf	getAmosIIv1Conf (double _scale=1.0, bool _useShoulder=1, bool _useFoot=1, bool _useBack=0)
static AmosIIConf	getAmosIIv2Conf (double _scale=1.0, bool _useShoulder=1, bool _useFoot=1, bool _useBack=0)
static MotorName	getMotorName (LegPos leg, LegJointType joint)
	returns the MotorName enum value for the given joint at the given leg.
static LegJointType	getLegJointType (MotorName)
	Returns the joint type of the given motor.
static LegPos	getMotorLegPos (MotorName)
	Returns the leg of the given motor.
Protected Member Functions
virtual void	create (const osg::Matrix &pose)
	creates vehicle at desired pose
virtual void	destroy ()
	destroys vehicle and space
void	nameMotor (const int motorNo, const char *name)
	Assign a human readable name to a motor.
void	nameSensor (const int sensorNo, const char *name)
	Assign a human readable name to a sensor.

Member Typedef Documentation

typedef AmosIIMotorNames MotorName

typedef AmosIISensorNames SensorName

Member Enumeration Documentation

enum LegJointType

Enumerator:

TC
CTR
FTI
LEG_JOINT_TYPE_MAX

enum LegPos

Enumerator:

L0
L1
L2
R0
R1
R2
LEG_POS_MAX

enum LegPosUsage

Enumerator:

LEG
WHEEL
UNUSED

Constructor & Destructor Documentation

AmosII	(	const OdeHandle &	odeHandle,
		const OsgHandle &	osgHandle,
		const AmosIIConf &	conf = `getDefaultConf()`,
		const std::string &	name = `"AmosII robot"`
	)

constructor

Parameters:

	odeHandle	data structure for accessing ODE
	osgHandle	ata structure for accessing OSG
	conf	configuration object
	name	name to display for this robot

~AmosII ( ) [virtual]

Member Function Documentation

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

creates vehicle at desired pose

creates vehicle at desired position

Parameters:

	pose	4x4 pose matrix
	pos	struct Position with desired position

central position of the trunk

parameters are set later

void destroy ( ) [protected, virtual]

destroys vehicle and space

void doInternalStuff ( GlobalData & global ) [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

It should perform robot- internal checks, like space-internal collision detection, sensor resets/update etc.

Parameters:

global

structure that contains global data from the simulation environment

Reimplemented from OdeRobot.

AmosIIConf getAmosIIv1Conf	(	double	_scale = `1.0`,
		bool	_useShoulder = `1`,
		bool	_useFoot = `1`,
		bool	_useBack = `0`
	)			`[static]`

AmosIIConf getAmosIIv2Conf	(	double	_scale = `1.0`,
		bool	_useShoulder = `1`,
		bool	_useFoot = `1`,
		bool	_useBack = `0`
	)			`[static]`

AmosIIConf getDefaultConf	(	double	_scale = `1.0`,
		bool	_useShoulder = `1`,
		bool	_useFoot = `1`,
		bool	_useBack = `0`
	)			`[static]`

Returns the default configuration values.

AmosII::LegJointType getLegJointType ( MotorName name ) [static]

Returns the joint type of the given motor.

returns the joint type of the given motor.

If the given motor name is not associated with a leg joint JOINT_TYPE_MAX is returend and a warning is given out.

Parameters:

MotorName

name of the motor

Returns:: joint type controlled by this motor or JOINT_TYPE_MAX if MotorName is invalid

Primitive * getMainPrimitive ( ) const [virtual]

the main object of the robot, which is used for position and speed tracking

Reimplemented from OdeRobot.

double getMassOfRobot ( ) [virtual]

AmosII::LegPos getMotorLegPos ( MotorName name ) [static]

Returns the leg of the given motor.

If the given motor name is not associated wit a leg LEG_POS_MAX is returned and a warning is given out.

Parameters:

MotorName

name of the motor

Returns:: the leg on which this motor operates or LEG_POS_MAX if MotorName is invalid

If the given motor name is not associated wit a leg LEG_POS_MAX is returned and a warning is given out

Parameters:

MotorName

name of the motor

Returns:: the leg on which this motor operates or LEG_POS_MAX if MotorName is invalid

AmosII::MotorName getMotorName	(	LegPos	leg,
		LegJointType	joint
	)			`[static]`

returns the MotorName enum value for the given joint at the given leg.

If the value for leg or joint are not valid AMOSII_MOTOR_MAX is returned.

Parameters:

	leg	leg position
	joint	leg joint type

Returns:: the motor name value or AMOSII_MOTOR_MAX if parameters are invalid

int getMotorNumber ( ) [virtual]

returns number of motors

Implements AbstractRobot.

int getSensorNumber ( ) [virtual]

returns number of sensors

Implements AbstractRobot.

int getSensors	(	sensor *	sensors,
		int	sensornumber
	)			`[virtual]`

returns actual sensorvalues

Parameters:

	sensors	sensor array with sensors scaled to [-1,1]
	sensornumber	length of the sensor array

Returns:: number of actually written sensors

Implements AbstractRobot.

void nameMotor	(	const int	motorNo,
		const char *	name
	)			`[protected]`

Assign a human readable name to a motor.

This name is used for the associated inspectable value as used e.g. in guilogger.

Parameters:

	motorNo	index of the motor (for standard motors defined by the MotorName enum)
	name	human readable name for the motor

void nameSensor	(	const int	sensorNo,
		const char *	name
	)			`[protected]`

Assign a human readable name to a sensor.

This name is used for the associated inspectable value as used e.g. in guilogger.

Parameters:

	motorNo	index of the motor (for standard motors defined by the SensorName enum)
	name	human readable name for the sensor

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

sets the pose of the vehicle

Parameters:

pose

desired pose matrix

Implements OdeRobot.

void setLegPosUsage	(	LegPos	leg,
		LegPosUsage	usage
	)

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.

bool setParam	(	const paramkey &	key,
		paramval	val
	)			`[virtual]`

void update ( ) [virtual]

updates the OSG nodes of the vehicle

updates the osg notes

Implements OdeRobot.

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

AmosII Class Reference

Classes

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Member Typedef Documentation

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation