ShortCircuit Class Reference

#include <shortcircuit.h>

Inherits OdeRobot.

Inheritance diagram for ShortCircuit:

[legend]Collaboration diagram for ShortCircuit:

[legend]List of all members.

Public Member Functions
	ShortCircuit (const OdeHandle &odeHandle, const OsgHandle &osgHandle, int sensornumber, int motornumber)
virtual void	update ()
	update the OSG notes here
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 void	doInternalStuff (const GlobalData &globalData)
	this function is called in each timestep.
virtual bool	collisionCallback (void *data, dGeomID o1, dGeomID o2)
	checks for internal collisions and treats them.
Protected Member Functions
virtual Primitive *	getMainPrimitive () const
	the main object of the robot, which is used for position and speed tracking
Protected Attributes
int	sensorno
int	motorno
motor *	motors

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Constructor & Destructor Documentation

ShortCircuit	(	const OdeHandle &	odeHandle,
		const OsgHandle &	osgHandle,
		int	sensornumber,
		int	motornumber
	)

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Member Function Documentation

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

virtual void doInternalStuff

(

const GlobalData &

globalData

)

[inline, 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.

virtual int getMotorNumber

(

)

[inline, virtual]

returns number of motors

Implements AbstractRobot.

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.

virtual void place

(

const osg::Matrix &

pose

)

[inline, 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.

virtual void update

(

)

[inline, virtual]

update the OSG notes here

Implements OdeRobot.

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Member Data Documentation

int motorno [protected]

motor* motors [protected]

int sensorno [protected]

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

• shortcircuit.h
• shortcircuit.cpp

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