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

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# SliderWheelie Class Reference

This is a class, which models an annular robot. More...

`#include <sliderwheelie.h>`

Inherits OdeRobot.

Inheritance diagram for SliderWheelie:

[legend]
Collaboration diagram for SliderWheelie:

[legend]
List of all members.

## Public Member Functions
| SliderWheelie (const OdeHandle &odeHandle, const OsgHandle &osgHandle, const SliderWheelieConf &conf, const std::string &name, const std::string &revision="")
virtual | ~SliderWheelie ()
virtual void | place (const osg::Matrix &pose)
| sets the pose of the vehicle
virtual void | update ()
| update the OSG notes here
void | doInternalStuff (GlobalData &global)
| this function is called in each timestep after control.
bool | collisionCallback (void *data, dGeomID o1, dGeomID o2)
virtual void | setMotors (const motor *motors, int motornumber)
| sets actual motorcommands
virtual int | getSensors (sensor *sensors, int sensornumber)
| returns actual sensorvalues
virtual int | getSensorNumber ()
| returns number of sensors
virtual int | getMotorNumber ()
| returns number of motors
virtual Primitive * | getMainPrimitive () const
| return the primitive of the robot that is used for tracking and camera following
virtual paramlist | getParamList () const
| The list of all parameters with there value as allocated lists.
virtual paramval | getParam (const paramkey &key) const
virtual bool | setParam (const paramkey &key, paramval val)
## Static Public Member Functions
static SliderWheelieConf | getDefaultConf ()

## Detailed Description

This is a class, which models an annular robot.

It consists of a number of equal elements, each linked by a joint powered by 1 servo

## Constructor & Destructor Documentation

SliderWheelie | ( | const OdeHandle & | odeHandle,
|  | const OsgHandle & | osgHandle,
|  | const SliderWheelieConf & | conf,
|  | const std::string & | name,
|  | const std::string & | revision = `""` |
| ) |  |  |

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

## Member Function Documentation

bool collisionCallback | ( | void * | data,
|  | dGeomID | o1,
|  | dGeomID | o2 |
| ) |  |  | `[virtual]`

Deprecated:
  Do not use it anymore, collision control is done automatically. In case of a treatment return true (collision will be ignored by other objects and the default routine) else false (collision is passed to other objects and (if not treated) to the default routine).

Reimplemented from OdeRobot.

void doInternalStuff | ( | GlobalData & | global | ) | `[virtual]`

this function is called in each timestep after control.

It should perform robot-internal checks and actions, like acting and sensing of internal motors/sensors etc.

Parameters:

  | globalData | structure that contains global data from the simulation environment

Implements OdeRobot.

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

virtual Primitive* getMainPrimitive | ( |  | ) | const`[inline, virtual]`

return the primitive of the robot that is used for tracking and camera following

Implements OdeRobot.

virtual int getMotorNumber | ( |  | ) | `[inline, virtual]`

returns number of motors

Implements AbstractRobot.

Configurable::paramval getParam | ( | const paramkey & | key | ) | const`[virtual]`

Configurable::paramlist getParamList | ( |  | ) | const`[virtual]`

The list of all parameters with there value as allocated lists.

Returns:
  list of parameters

Reimplemented from Configurable.

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.

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

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

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

update the OSG notes here

Implements OdeRobot.

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

- sliderwheelie.h
- sliderwheelie.cpp