Nimm2 Class Reference

Robot that looks like a Nimm 2 Bonbon :-) 2 wheels and a cylinder like body. More...

#include <nimm2.h>

Inherits OdeRobot.

Inheritance diagram for Nimm2:

[legend]Collaboration diagram for Nimm2:

[legend]List of all members.

Public Member Functions
	Nimm2 (const OdeHandle &odehandle, const OsgHandle &osgHandle, const Nimm2Conf &conf, const std::string &name)
virtual	~Nimm2 ()
virtual void	update ()
	updates the osg notes and sensorbank
virtual void	place (const osg::Matrix &pose)
	sets the pose of the vehicle
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.
Static Public Member Functions
static Nimm2Conf	getDefaultConf ()
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
Static Protected Member Functions
static void	mycallback (void *data, dGeomID o1, dGeomID o2)
Protected Attributes
Nimm2Conf	conf
double	length
double	width
double	height
double	radius
double	wheelthickness
double	cmass
double	wmass
int	sensorno
int	motorno
bool	created
double	max_force
Primitive *	object [3]
double	wheeloffset
int	number_bumpers
Bumper	bumper [2]
Hinge2Joint *	joint [2]
RaySensorBank	irSensorBank

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Detailed Description

Robot that looks like a Nimm 2 Bonbon :-) 2 wheels and a cylinder like body.

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Constructor & Destructor Documentation

Nimm2	(	const OdeHandle &	odehandle,
		const OsgHandle &	osgHandle,
		const Nimm2Conf &	conf,
		const std::string &	name
	)

virtual ~Nimm2

(

)

[inline, virtual]

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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

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 Nimm2Conf getDefaultConf

(

)

[inline, static]

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.

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

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.

void update

(

)

[virtual]

updates the osg notes and sensorbank

Implements OdeRobot.

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Member Data Documentation

Bumper bumper[2] [protected]

double cmass [protected]

Nimm2Conf conf [protected]

bool created [protected]

double height [protected]

RaySensorBank irSensorBank [protected]

Hinge2Joint* joint[2] [protected]

double length [protected]

double max_force [protected]

int motorno [protected]

int number_bumpers [protected]

Primitive* object[3] [protected]

double radius [protected]

int sensorno [protected]

double wheeloffset [protected]

double wheelthickness [protected]

double width [protected]

double wmass [protected]

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

• nimm2.h
• nimm2.cpp

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