OdeAgent Class Reference

Specialised agent for ode robots. More...

#include <odeagent.h>

Collaboration diagram for OdeAgent:

Public Member Functions
	OdeAgent (const PlotOption &plotOption=PlotOption(NoPlot), double noisefactor=1, const std::string &name="OdeAgent", const std::string &revision="$ID$") __attribute__((deprecated))
	OdeAgent (const std::list< PlotOption > &plotOptions, double noisefactor=1, const std::string &name="OdeAgent", const std::string &revision="$ID$") __attribute__((deprecated))
	OdeAgent (const GlobalData &globalData, double noisefactor=1, const std::string &name="OdeAgent", const std::string &revision="")
	The plotoptions are taken from globaldata.
	OdeAgent (const GlobalData &globalData, const PlotOption &plotOption, double noisefactor=1, const std::string &name="OdeAgent", const std::string &revision="")
	Provided for convinience.
	OdeAgent (const GlobalData &globalData, const PlotOptionList &plotOptions, double noisefactor=1, const std::string &name="OdeAgent", const std::string &revision="")
	Provided for convinience.
virtual	~OdeAgent ()
virtual bool	init (AbstractController controller, OdeRobot robot, AbstractWiring *wiring, long int seed=0)
	initializes the object with the given controller, robot and wiring and initializes plotoptionengine
virtual void	step (double noise, double time)
	Performs an step of the agent, including sensor reading, pushing sensor values through the wiring, controller step, pushing controller outputs (= motorcommands) back through the wiring and sent resulting motorcommands to robot.
virtual void	stepOnlyWiredController (double noise, double time)
	Special function for the class Simulation to seperate the step of the WiredController (plus TrackRobot) and the setting and getting of the motor- and sensorvalues.
virtual void	setMotorsGetSensors ()
	Special function for the class Simulation to seperate the step of the WiredController (plus TrackRobot) and the setting and getting of the motor- and sensorvalues.
virtual void	beforeStep (GlobalData &global)
	should be called before step() or stepOnlyWiredController() and calls operators and robot->sense()
virtual void	startMotorBabblingMode (int steps, AbstractController *babblecontroller=0, bool fixRobot=true)
	Enables the motor babbling mode.
virtual void	stopMotorBabblingMode ()
	stops the motor babbling mode.
virtual OdeRobot *	getRobot ()
	Returns a pointer to the robot.
virtual const OdeRobot *	getRobot () const
	Returns a const pointer to the robot.
virtual int	getTraceLength ()
virtual bool	setTraceLength (int tracelength)
virtual void	setTraceThickness (int tracethickness)
virtual void	addTracking (unsigned int primitiveIndex, const TrackRobot &trackrobot, const Color &color)
	adds tracking for individual primitives
virtual void	setTrackOptions (const TrackRobot &trackrobot)
	sets the trackoptions which enable tracking of a robot
virtual bool	store (FILE *f) const
	stores the object to the given file stream (binary).
virtual bool	restore (FILE *f)
	loads the object from the given file stream (binary).
virtual void	addOperator (Operator *o, bool addToConfigurable=true)
	adds an operator to the agent (the operator is deleted on destruction of the agent!)
virtual bool	removeOperator (Operator *o)
	removes the given operator: it is _not_ deleted (memory wise)
virtual void	removeOperators ()
	removes (and deletes) all operators
Protected Member Functions
virtual void	trace (GlobalData &global)
	continues the trace by one segment
virtual void	tryFixateRobot ()
	tries to fixate the robot at fixatingPos

Detailed Description

Specialised agent for ode robots.

Examples:: template_sphererobot/main.cpp.

Constructor & Destructor Documentation

OdeAgent	(	const PlotOption &	plotOption = `PlotOption(NoPlot)`,
		double	noisefactor = `1`,
		const std::string &	name = `"OdeAgent"`,
		const std::string &	revision = `"$ID$"`
	)

Deprecated:: obsolete provide globaldata, see the other constructors

OdeAgent	(	const std::list< PlotOption > &	plotOptions,
		double	noisefactor = `1`,
		const std::string &	name = `"OdeAgent"`,
		const std::string &	revision = `"$ID$"`
	)

Deprecated:: obsolete provide globaldata, see the other constructors

OdeAgent	(	const GlobalData &	globalData,
		double	noisefactor = `1`,
		const std::string &	name = `"OdeAgent"`,
		const std::string &	revision = `""`
	)

The plotoptions are taken from globaldata.

Parameters:

noisefactor

factor for sensor noise for this agent

OdeAgent	(	const GlobalData &	globalData,
		const PlotOption &	plotOption,
		double	noisefactor = `1`,
		const std::string &	name = `"OdeAgent"`,
		const std::string &	revision = `""`
	)

Provided for convinience.

A single plotoption is used as given by plotOption

OdeAgent	(	const GlobalData &	globalData,
		const PlotOptionList &	plotOptions,
		double	noisefactor = `1`,
		const std::string &	name = `"OdeAgent"`,
		const std::string &	revision = `""`
	)

Provided for convinience.

The plotoptions are taken from the given plotOptions (and not from globaldata, if you wish to overwrite them)

~OdeAgent ( ) [virtual]

Member Function Documentation

void addOperator	(	Operator *	o,
		bool	addToConfigurable = `true`
	)			`[virtual]`

adds an operator to the agent (the operator is deleted on destruction of the agent!)

void addTracking	(	unsigned int	primitiveIndex,
		const TrackRobot &	trackrobot,
		const Color &	color
	)			`[virtual]`

adds tracking for individual primitives

void beforeStep ( GlobalData & global ) [virtual]

should be called before step() or stepOnlyWiredController() and calls operators and robot->sense()

virtual const OdeRobot* getRobot ( ) const [inline, virtual]

Returns a const pointer to the robot.

virtual OdeRobot* getRobot ( ) [inline, virtual]

Returns a pointer to the robot.

Reimplemented from Agent.

virtual int getTraceLength ( ) [inline, virtual]

Deprecated:: use TrackRobot parameters

virtual bool init	(	AbstractController *	controller,
		OdeRobot *	robot,
		AbstractWiring *	wiring,
		long int	seed = `0`
	)			`[inline, virtual]`

initializes the object with the given controller, robot and wiring and initializes plotoptionengine

Examples:: template_sphererobot/main.cpp.

bool removeOperator ( Operator * o ) [virtual]

removes the given operator: it is _not_ deleted (memory wise)

Returns:: true on success

void removeOperators ( ) [virtual]

removes (and deletes) all operators

bool restore ( FILE * f ) [virtual]

loads the object from the given file stream (binary).

Implements Storeable.

void setMotorsGetSensors ( ) [virtual]

Special function for the class Simulation to seperate the step of the WiredController (plus TrackRobot) and the setting and getting of the motor- and sensorvalues.

virtual bool setTraceLength ( int tracelength ) [inline, virtual]

Deprecated:: use TrackRobot parameters

virtual void setTraceThickness ( int tracethickness ) [inline, virtual]

Deprecated:: use TrackRobot parameters

void setTrackOptions ( const TrackRobot & trackrobot ) [virtual]

sets the trackoptions which enable tracking of a robot

Reimplemented from Agent.

void startMotorBabblingMode	(	int	steps,
		AbstractController *	babblecontroller = `0`,
		bool	fixRobot = `true`
	)			`[virtual]`

Enables the motor babbling mode.

The robot is move into the air and is fixed by a fixed joint if fixRobot==true See WiredController::startMotorBabblingMode().

Reimplemented from WiredController.

void step	(	double	noise,
		double	time
	)			`[virtual]`

Performs an step of the agent, including sensor reading, pushing sensor values through the wiring, controller step, pushing controller outputs (= motorcommands) back through the wiring and sent resulting motorcommands to robot.

Parameters:

	noise	Noise strength.
	time	(optional) current simulation time (used for logging)

Reimplemented from Agent.

void stepOnlyWiredController	(	double	noise,
		double	time
	)			`[virtual]`

Special function for the class Simulation to seperate the step of the WiredController (plus TrackRobot) and the setting and getting of the motor- and sensorvalues.

Parameters:

noise

See also:: step()

Parameters:

time

See also:: step()

void stopMotorBabblingMode ( ) [virtual]

stops the motor babbling mode.

Reimplemented from WiredController.

bool store ( FILE * f ) const [virtual]

stores the object to the given file stream (binary).

Implements Storeable.

void trace ( GlobalData & global ) [protected, virtual]

continues the trace by one segment

void tryFixateRobot ( ) [protected, virtual]

tries to fixate the robot at fixatingPos

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

OdeAgent Class Reference

Public Member Functions

Protected Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation