Sphererobot3Masses Class Reference

A spherical robot with 3 internal masses, which can slide on their orthogonal axes. More...

#include <sphererobot3masses.h>

Inherits OdeRobot.

Inheritance diagram for Sphererobot3Masses:

[legend]Collaboration diagram for Sphererobot3Masses:

[legend]List of all members.

Public Types
	Base
	Pendular1
	Pendular2
	Pendular3
	Last
enum	objects {   Base, Pendular1, Pendular2, Pendular3,   Last }
	enum for the objects of the robot More...
Public Member Functions
	Sphererobot3Masses (const OdeHandle &odeHandle, const OsgHandle &osgHandle, const Sphererobot3MassesConf &conf, const std::string &name, double transparency=0.5)
	constructor
virtual	~Sphererobot3Masses ()
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, and 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.
virtual Primitive *	getMainPrimitive () const
	the main object of the robot, which is used for position and speed tracking
Static Public Member Functions
static Sphererobot3MassesConf	getDefaultConf ()
	default configuration
Protected Member Functions
virtual void	create (const osg::Matrix &pose)
	creates vehicle at desired position
virtual void	destroy ()
	destroys vehicle and space
Protected Attributes
Primitive *	object [Last]
SliderServo *	servo [servono]
SliderJoint *	joint [servono]
OSGPrimitive *	axis [servono]
double	transparency
bool	created
Sphererobot3MassesConf	conf
RaySensorBank	irSensorBank
Static Protected Attributes
static const int	servono = 3

---

Detailed Description

A spherical robot with 3 internal masses, which can slide on their orthogonal axes.

This robot was inspired by Julius Popp (http://sphericalrobots.com)

---

Member Enumeration Documentation

enum objects

enum for the objects of the robot

Enumerator:

Base
Pendular1
Pendular2
Pendular3
Last

---

Constructor & Destructor Documentation

Sphererobot3Masses	(	const OdeHandle &	odeHandle,
		const OsgHandle &	osgHandle,
		const Sphererobot3MassesConf &	conf,
		const std::string &	name,
		double	transparency = 0.5
	)

constructor

~Sphererobot3Masses

(

)

[virtual]

---

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	(unused)
	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:

pos

struct Position with desired position

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 Sphererobot3MassesConf getDefaultConf

(

)

[inline, static]

default configuration

virtual Primitive* getMainPrimitive

(

)

const [inline, 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 (should be sensornumber)

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, and sets all motors of the snake to this values.

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.

---

Member Data Documentation

OSGPrimitive* axis[servono] [protected]

Sphererobot3MassesConf conf [protected]

bool created [protected]

RaySensorBank irSensorBank [protected]

SliderJoint* joint[servono] [protected]

Primitive* object[Last] [protected]

SliderServo* servo[servono] [protected]

const int servono = 3 [static, protected]

double transparency [protected]

---

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

• sphererobot3masses.h
• sphererobot3masses.cpp

---