Arm2Segm Class Reference

#include <arm2segm.h>

Inherits OdeRobot.

Inheritance diagram for Arm2Segm:

[legend]Collaboration diagram for Arm2Segm:

[legend]List of all members.

Public Member Functions
	Arm2Segm (const OdeHandle &odeHandle, const OsgHandle &osgHandle, const Arm2SegmConf)
virtual	~Arm2Segm ()
virtual void	update ()
	update the subcomponents
virtual void	place (const osg::Matrix &pose)
	sets the vehicle to position pos, sets color to c, and creates robot if necessary pos desired position of the robot in struct Position
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 int	getSegmentsPosition (std::vector< Position > &poslist)
	returns a vector with the positions of all segments of the robot
virtual Primitive *	getMainPrimitive () const
	the main object of the robot, which is used for position and speed tracking
virtual bool	collisionCallback (void *data, dGeomID o1, dGeomID o2)
	checks for internal collisions and treats them.
virtual void	doInternalStuff (const GlobalData &globalData)
	this function is called in each timestep.
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 Arm2SegmConf	getDefaultConf ()
Protected Member Functions
virtual void	create (const osg::Matrix &pose)
	creates vehicle at desired position
virtual void	destroy ()
	destroys vehicle and space
Static Protected Member Functions
static void	mycallback (void *data, dGeomID o1, dGeomID o2)
Protected Attributes
dSpaceID	parentspace
Arm2SegmConf	conf
std::vector< Primitive * >	objects
std::vector< Joint * >	joints
std::vector< AngularMotor1Axis * >	amotors
std::string	name
paramval	speed
paramval	factorSensors
int	sensorno
int	motorno
bool	created

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Constructor & Destructor Documentation

Arm2Segm	(	const OdeHandle &	odeHandle,
		const OsgHandle &	osgHandle,
		const	Arm2SegmConf
	)

virtual ~Arm2Segm

(

)

[inline, virtual]

---

Member Function Documentation

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

checks for internal collisions and treats them.

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).

Implements OdeRobot.

void create

(

const osg::Matrix &

pose

)

[protected, virtual]

creates vehicle at desired position

Parameters:

pose

4x4 pose matrix

pose

pose

pose

void destroy

(

)

[protected, virtual]

destroys vehicle and space

void doInternalStuff

(

const GlobalData &

globalData

)

[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

Implements OdeRobot.

static Arm2SegmConf getDefaultConf

(

)

[inline, static]

Primitive * getMainPrimitive

(

)

const [virtual]

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

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 names

Reimplemented from Configurable.

int getSegmentsPosition

(

std::vector< Position > &

poslist

)

[virtual]

returns a vector with the positions of all segments of the robot

Parameters:

poslist

vector of positions (of all robot segments)

Returns:

length of the list

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 mycallback	(	void *	data,
		dGeomID	o1,
		dGeomID	o2
	)			[static, protected]

void place

(

const osg::Matrix &

pose

)

[virtual]

sets the vehicle to position pos, sets color to c, and creates robot if necessary pos desired position of the robot in struct Position

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 subcomponents

Implements OdeRobot.

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Member Data Documentation

std::vector<AngularMotor1Axis*> amotors [protected]

Arm2SegmConf conf [protected]

bool created [protected]

paramval factorSensors [protected]

std::vector<Joint*> joints [protected]

int motorno [protected]

std::string name [protected]

Reimplemented from Configurable.

std::vector<Primitive*> objects [protected]

dSpaceID parentspace [protected]

Reimplemented from OdeRobot.

int sensorno [protected]

paramval speed [protected]

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

• arm2segm.h
• arm2segm.cpp

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