#include <oderobot.h>
Inherits AbstractRobot.
Inherited by Arm2Segm, Component, DefaultCaterPillar, DefaultSliderWheelie, DefaultWheelie, ForcedSphere, Formel1, HurlingSnake, MuscledArm, Nimm2, Nimm4, Schlange, ShortCircuit, Sphererobot, Sphererobot3Masses, TruckMesh, and Uwo.
Inheritance diagram for OdeRobot:
Public Member Functions | |
| OdeRobot (const OdeHandle &odeHandle, const OsgHandle &osgHandle, const std::string &name, const std::string &revision) | |
| Constructor. | |
| virtual | ~OdeRobot () |
| virtual void | update ()=0 |
| update the OSG notes here | |
| virtual void | place (const Pos &pos) |
| sets the vehicle to position pos pos desired position of the robot | |
| virtual void | place (const osg::Matrix &pose)=0 |
| sets the pose of the vehicle | |
| virtual bool | collisionCallback (void *data, dGeomID o1, dGeomID o2)=0 |
| checks for internal collisions and treats them. | |
| virtual void | doInternalStuff (const GlobalData &globalData)=0 |
| this function is called in each timestep. | |
| virtual void | setColor (const Color &col) |
| sets color of the robot | |
| virtual Position | getPosition () const |
| returns position of the object | |
| virtual Position | getSpeed () const |
| returns linear speed vector of the object | |
| virtual matrix::Matrix | getOrientation () const |
| returns the orientation of the object | |
| virtual Primitive * | getMainPrimitive () const =0 |
| overload this in the robot implementation. | |
Static Protected Member Functions | |
| static bool | isGeomInPrimitiveList (Primitive **ps, int len, dGeomID geom) |
| static bool | isGeomInPrimitiveList (std::list< Primitive * > ps, dGeomID geom) |
| static matrix::Matrix | odeRto3x3RotationMatrixT (const double R[12]) |
| static matrix::Matrix | odeRto3x3RotationMatrix (const double R[12]) |
Protected Attributes | |
| OdeHandle | odeHandle |
| OsgHandle | osgHandle |
| dSpaceID | parentspace |
Friends | |
| class | OdeAgent |
| OdeRobot | ( | const OdeHandle & | odeHandle, | |
| const OsgHandle & | osgHandle, | |||
| const std::string & | name, | |||
| const std::string & | revision | |||
| ) |
Constructor.
| odehandle | structure with all global ODE variables |
| ~OdeRobot | ( | ) | [virtual] |
| virtual bool collisionCallback | ( | void * | data, | |
| dGeomID | o1, | |||
| dGeomID | o2 | |||
| ) | [pure 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).
Implemented in Arm2Segm, AtomComponent, Component, DefaultCaterPillar, DefaultSliderWheelie, DefaultWheelie, ForcedSphere, Formel1, HurlingSnake, MuscledArm, Nimm2, Nimm4, RobotComponent, Schlange, ShortCircuit, SimpleComponent, Sphererobot, Sphererobot3Masses, TruckMesh, and Uwo.
| virtual void doInternalStuff | ( | const GlobalData & | globalData | ) | [pure virtual] |
this function is called in each timestep.
It should perform robot-internal checks, like space-internal collision detection, sensor resets/update etc.
| globalData | structure that contains global data from the simulation environment |
Implemented in Arm2Segm, AtomComponent, Component, DefaultCaterPillar, DefaultSliderWheelie, DefaultWheelie, ForcedSphere, Formel1, HurlingSnake, MuscledArm, Nimm2, Nimm4, RobotComponent, Schlange, ShortCircuit, SimpleComponent, Sphererobot, Sphererobot3Masses, TruckMesh, and Uwo.
| virtual Primitive* getMainPrimitive | ( | ) | const [pure virtual] |
overload this in the robot implementation.
If there is no object for some reason then return a null pointer
Implemented in Arm2Segm, AtomComponent, Component, DefaultCaterPillar, DefaultSliderWheelie, DefaultWheelie, ForcedSphere, Formel1, HurlingSnake, MuscledArm, Nimm2, Nimm4, PrimitiveComponent, RobotComponent, Schlange, ShortCircuit, SimpleComponent, Sphererobot, Sphererobot3Masses, TruckMesh, and Uwo.
| matrix::Matrix getOrientation | ( | ) | const [virtual] |
| Position getPosition | ( | ) | const [virtual] |
returns position of the object
Implements Trackable.
Reimplemented in AtomComponent, Component, PrimitiveComponent, RobotComponent, and SimpleComponent.
| Position getSpeed | ( | ) | const [virtual] |
| static bool isGeomInPrimitiveList | ( | std::list< Primitive * > | ps, | |
| dGeomID | geom | |||
| ) | [static, protected] |
| bool isGeomInPrimitiveList | ( | Primitive ** | ps, | |
| int | len, | |||
| dGeomID | geom | |||
| ) | [static, protected] |
| matrix::Matrix odeRto3x3RotationMatrix | ( | const double | R[12] | ) | [static, protected] |
| matrix::Matrix odeRto3x3RotationMatrixT | ( | const double | R[12] | ) | [static, protected] |
| virtual void place | ( | const osg::Matrix & | pose | ) | [pure virtual] |
sets the pose of the vehicle
| pose | desired 4x4 pose matrix |
Implemented in Arm2Segm, AtomComponent, DefaultCaterPillar, DefaultSliderWheelie, DefaultWheelie, ForcedSphere, Formel1, HurlingSnake, MuscledArm, Nimm2, Nimm4, RobotComponent, Schlange, ShortCircuit, SimpleComponent, Sphererobot, Sphererobot3Masses, TruckMesh, and Uwo.
| void place | ( | const Pos & | pos | ) | [virtual] |
sets the vehicle to position pos pos desired position of the robot
| pos | desired position of the robot |
Reimplemented in AtomComponent, Component, PrimitiveComponent, RobotComponent, and SimpleComponent.
| void setColor | ( | const Color & | col | ) | [virtual] |
| virtual void update | ( | ) | [pure virtual] |
update the OSG notes here
Implemented in Arm2Segm, AtomComponent, Component, DefaultCaterPillar, DefaultSliderWheelie, DefaultWheelie, ForcedSphere, Formel1, HurlingSnake, MuscledArm, Nimm2, Nimm4, PrimitiveComponent, RobotComponent, Schlange, ShortCircuit, SimpleComponent, Sphererobot, Sphererobot3Masses, TruckMesh, and Uwo.
friend class OdeAgent [friend] |
dSpaceID parentspace [protected] |
Reimplemented in Arm2Segm, and MuscledArm.
1.4.7