ReplayRobot Class Reference

#include <replayrobot.h>

Inherits lpzrobots::OdeRobot.

Collaboration diagram for ReplayRobot:

[legend]

List of all members.

Public Member Functions
	ReplayRobot (const OdeHandle &odeHandle, const OsgHandle &osgHandle, const char *filename)
	~ReplayRobot ()
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
Static Protected Member Functions
static bool	parseDataFileForHeader (FILE *f, int &sensorstart, int &sensorend, int &motorstart, int &motorend)
static bool	parseDataLine (matrix::Matrix &data, FILE *f)
static bool	isEmpty (const char *c)
static bool	check4Number (const char *c)
Protected Attributes
int	sensorStart
int	sensorEnd
int	motorStart
int	motorEnd
matrix::Matrix	sensors
const char *	filename
FILE *	f

---

Constructor & Destructor Documentation

ReplayRobot	(	const OdeHandle &	odeHandle,
		const OsgHandle &	osgHandle,
		const char *	filename
	)

~ReplayRobot

(

)

---

Member Function Documentation

bool check4Number

(

const char *

c

)

[static, protected]

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

Implements AbstractRobot.

bool isEmpty

(

const char *

c

)

[static, protected]

bool parseDataFileForHeader	(	FILE *	f,
		int &	sensorstart,
		int &	sensorend,
		int &	motorstart,
		int &	motorend
	)			[static, protected]

bool parseDataLine	(	matrix::Matrix &	data,
		FILE *	f
	)			[static, protected]

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

Implements AbstractRobot.

virtual void update

(

)

[inline, virtual]

update the OSG notes here

Implements OdeRobot.

---

Member Data Documentation

FILE* f [protected]

const char* filename [protected]

int motorEnd [protected]

int motorStart [protected]

int sensorEnd [protected]

matrix::Matrix sensors [protected]

int sensorStart [protected]

---

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

• replayrobot.h
• replayrobot.cpp