Robotsystem from Robot Group Leipzig: shortcircuit.cpp Source File

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# shortcircuit.cpp

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    00001 /***************************************************************************
    00002  *   Copyright (C) 2005 by Robot Group Leipzig                             *
    00003  *    martius@informatik.uni-leipzig.de                                    *
    00004  *    fhesse@informatik.uni-leipzig.de                                     *
    00005  *    der@informatik.uni-leipzig.de                                        *
    00006  *                                                                         *
    00007  *   This program is free software; you can redistribute it and/or modify  *
    00008  *   it under the terms of the GNU General Public License as published by  *
    00009  *   the Free Software Foundation; either version 2 of the License, or     *
    00010  *   (at your option) any later version.                                   *
    00011  *                                                                         *
    00012  *   This program is distributed in the hope that it will be useful,       *
    00013  *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
    00014  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
    00015  *   GNU General Public License for more details.                          *
    00016  *                                                                         *
    00017  *   You should have received a copy of the GNU General Public License     *
    00018  *   along with this program; if not, write to the                         *
    00019  *   Free Software Foundation, Inc.,                                       *
    00020  *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
    00021  *                                                                         *
    00022  *   $Log: shortcircuit.cpp,v $
    00023  *   Revision 1.5.4.3  2006/01/10 20:32:51  martius
    00024  *   moved to osg
    00025  *
    00026  *   Revision 1.5.4.2  2005/11/15 12:29:27  martius
    00027  *   new selforg structure and OdeAgent, OdeRobot ...
    00028  *
    00029  *   Revision 1.5.4.1  2005/11/14 17:37:18  martius
    00030  *   moved to selforg
    00031  *
    00032  *   Revision 1.5  2005/11/09 13:24:42  martius
    00033  *   added GPL
    00034  *
    00035  ***************************************************************************/
    00036 #include <assert.h>
    00037
    00038 #include "simulation.h"
    00039
    00040 #include "shortcircuit.h"
    00041
    00042 namespace lpzrobots {
    00043
    00044   ShortCircuit::ShortCircuit(const OdeHandle& odeHandle,
    00045                              const OsgHandle& osgHandle, int sensornumber, int motornumber)
    00046     : OdeRobot(odeHandle, osgHandle){
    00047
    00048     sensorno = sensornumber;
    00049     motorno  = motornumber;
    00050     motors = (motor*)malloc(motorno * sizeof(motor));
    00051     for(int i=0; i < motorno; i++){
    00052       motors[i]=0.0;
    00053     }
    00054
    00055   };
    00056
    00057   /** sets actual motorcommands
    00058       @param motors motors scaled to [-1,1]
    00059       @param motornumber length of the motor array
    00060   */
    00061   void ShortCircuit::setMotors(const motor* _motors, int motornumber){
    00062     assert(motornumber == motorno);
    00063     memcpy(motors, _motors, sizeof(motor) * motornumber);
    00064   };
    00065
    00066   /** returns actual sensorvalues
    00067       @param sensors sensors scaled to [-1,1] (more or less)
    00068       @param sensornumber length of the sensor array
    00069       @return number of actually written sensors
    00070   */
    00071   int ShortCircuit::getSensors(sensor* sensors, int sensornumber){
    00072     assert(sensornumber == sensorno);
    00073     int mini = min(sensorno,motorno);
    00074     for (int i=0; i< mini; i++){
    00075       sensors[i]=motors[i]; // %motorno
    00076     }
    00077     for (int i=mini; i< sensorno; i++){
    00078       sensors[i]=0;
    00079     }
    00080     return sensorno;
    00081   };
    00082
    00083
    00084 }