MuscledArm Class Reference

#include <muscledarm.h>

Inheritance diagram for MuscledArm:

[legend]Collaboration diagram for MuscledArm:


Public Member Functions
	MuscledArm (const OdeHandle &odeHandle, const OsgHandle &osgHandle, const MuscledArmConf &conf, const std::string &name)
virtual	~MuscledArm ()
virtual void	update ()
	draws the arm
virtual void	place (const osg::Matrix &pose)
	sets the pose of the vehicle pose desired 4x4 pose matrix
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 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)
virtual Primitive *	getMainObject () const
Static Public Member Functions
static MuscledArmConf	getDefaultConf ()
Public Attributes
double	force_ [6]
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 arm at desired position
virtual void	destroy ()
	destroys vehicle and space
double	dBodyGetPositionAll (dBodyID basis, int para)
double	dGeomGetPositionAll (dGeomID basis, int para)
void	BodyCreate (int n, dMass m, dReal x, dReal y, dReal z, dReal qx, dReal qy, dReal qz, dReal qangle)
Static Protected Member Functions
static void	mycallback (void *data, dGeomID o1, dGeomID o2)
Protected Attributes
MuscledArmConf	conf
Primitive *	object [NUMParts]
Joint *	joint [NUMJoints]
Position	old_dist [NUMParts]
paramval	factorMotors
paramval	factorSensors
paramval	damping
paramval	print
int	segmentsno
double	gelenkabstand
double	SOCKEL_LAENGE
double	SOCKEL_BREITE
double	SOCKEL_HOEHE
double	SOCKEL_MASSE
int	sensorno
int	motorno
bool	created
dSpaceID	parentspace
int	printed
double	max_l
double	max_r
double	min_l
double	min_r
double	base_width
double	base_length
double	upperArm_width
double	upperArm_length
double	lowerArm_width
double	lowerArm_length
double	joint_offset
double	mainMuscle_width
double	mainMuscle_length
double	smallMuscle_width
double	smallMuscle_length
Static Protected Attributes
static const int	armanzahl = 3

Constructor & Destructor Documentation

MuscledArm	(	const OdeHandle &	odeHandle,
		const OsgHandle &	osgHandle,
		const MuscledArmConf &	conf,
		const std::string &	name
	)

virtual ~MuscledArm ( ) [inline, virtual]

Member Function Documentation

void BodyCreate	(	int	n,
		dMass	m,
		dReal	x,
		dReal	y,
		dReal	z,
		dReal	qx,
		dReal	qy,
		dReal	qz,
		dReal	qangle
	)			`[protected]`

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 arm at desired position

Parameters:

pose

4x4 pose matrix

double dBodyGetPositionAll	(	dBodyID	basis,
		int	para
	)			`[protected]`

void destroy ( ) [protected, virtual]

destroys vehicle and space

double dGeomGetPositionAll	(	dGeomID	basis,
		int	para
	)			`[protected]`

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 MuscledArmConf getDefaultConf ( ) [inline, static]

Primitive * getMainObject ( ) const [virtual]

virtual Primitive* getMainPrimitive ( ) const [inline, protected, 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.

Reimplemented from Configurable.

virtual 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 pose of the vehicle pose desired 4x4 pose matrix

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]

draws the arm

Implements OdeRobot.

Member Data Documentation

const int armanzahl = 3 [static, protected]

double base_length [protected]

double base_width [protected]

MuscledArmConf conf [protected]

bool created [protected]

paramval damping [protected]

paramval factorMotors [protected]

paramval factorSensors [protected]

double force_[6]

double gelenkabstand [protected]

Joint* joint[NUMJoints] [protected]

double joint_offset [protected]

double lowerArm_length [protected]

double lowerArm_width [protected]

double mainMuscle_length [protected]

double mainMuscle_width [protected]

double max_l [protected]

double max_r [protected]

double min_l [protected]

double min_r [protected]

int motorno [protected]

Primitive* object[NUMParts] [protected]

Position old_dist[NUMParts] [protected]

dSpaceID parentspace [protected]

Reimplemented from OdeRobot.

paramval print [protected]

int printed [protected]

int segmentsno [protected]

int sensorno [protected]

double smallMuscle_length [protected]

double smallMuscle_width [protected]

double SOCKEL_BREITE [protected]

double SOCKEL_HOEHE [protected]

double SOCKEL_LAENGE [protected]

double SOCKEL_MASSE [protected]

double upperArm_length [protected]

double upperArm_width [protected]

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

Generated on Mon Aug 7 16:55:51 2006 for Robotsystem of the Robot Group Leipzig by

1.4.7

MuscledArm Class Reference

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Static Protected Attributes

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation