ForcedSphere Class Reference

#include <forcedsphere.h>

Inherits OdeRobot.

Inheritance diagram for ForcedSphere:

[legend]Collaboration diagram for ForcedSphere:

[legend]List of all members.

Public Member Functions
	ForcedSphere (const OdeHandle &odeHandle, const OsgHandle &osgHandle, const char *name, double radius=1, double max_force=1)
	constructor
virtual	~ForcedSphere ()
virtual void	update ()
	update all primitives and joints
virtual void	place (const osg::Matrix &pose)
	sets the pose of the vehicle
virtual bool	collisionCallback (void *data, dGeomID o1, dGeomID o2)
	This is the collision handling function for sphere robots.
virtual void	doInternalStuff (const GlobalData &globalData)
	this function is called in each timestep.
virtual int	getSensors (sensor *sensors, int sensornumber)
	Writes the sensor values to an array in the memory.
virtual void	setMotors (const motor *motors, int motornumber)
	Reads the actual motor commands from an array, an sets all motors of the snake to this values.
virtual int	getMotorNumber ()
	Returns the number of motors used by the snake.
virtual int	getSensorNumber ()
	Returns the number of sensors used by the robot.
Protected Member Functions
virtual Primitive *	getMainPrimitive () const
	the main object of the robot, which is used for position and speed tracking
virtual void	create (const osg::Matrix &pose)
	creates vehicle at desired position
virtual void	destroy ()
	destroys vehicle and space
Protected Attributes
Primitive *	object [1]
double	radius
double	max_force
bool	created

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Constructor & Destructor Documentation

ForcedSphere	(	const OdeHandle &	odeHandle,
		const OsgHandle &	osgHandle,
		const char *	name,
		double	radius = 1,
		double	max_force = 1
	)

constructor

~ForcedSphere

(

)

[virtual]

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Member Function Documentation

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

This is the collision handling function for sphere robots.

This overwrides the function collisionCallback of the class robot.

Parameters:

	data
	o1	first geometrical object, which has taken part in the collision
	o2	second geometrical object, which has taken part in the collision

Returns:

true if the collision was threated by the robot, false if not

Implements OdeRobot.

void create

(

const osg::Matrix &

pose

)

[protected, virtual]

creates vehicle at desired position

Parameters:

pose

4x4 pose matrix

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.

virtual Primitive* getMainPrimitive

(

)

const [inline, protected, virtual]

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

Implements OdeRobot.

int getMotorNumber

(

)

[virtual]

Returns the number of motors used by the snake.

Returns:

number of motors

Implements AbstractRobot.

int getSensorNumber

(

)

[virtual]

Returns the number of sensors used by the robot.

Returns:

number of sensors

Implements AbstractRobot.

int getSensors	(	sensor *	sensors,
		int	sensornumber
	)			[virtual]

Writes the sensor values to an array in the memory.

Parameters:

	sensors	pointer to the array
	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]

Reads the actual motor commands from an array, an sets all motors of the snake to this values.

It is an linear allocation.

Parameters:

	motors	pointer to the array, motor values are scaled to [-1,1]
	motornumber	length of the motor array

Implements AbstractRobot.

void update

(

)

[virtual]

update all primitives and joints

Implements OdeRobot.

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Member Data Documentation

bool created [protected]

double max_force [protected]

Primitive* object[1] [protected]

double radius [protected]

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

• forcedsphere.h
• forcedsphere.cpp

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