Classes | |
| class | AtomOdeAgent |
| Specialised agent for ode robots. More... | |
| class | OdeAgent |
| Specialised agent for ode robots. More... | |
| class | AngularMotor |
| Abstract angular motor class. More... | |
| class | AngularMotor1Axis |
| Angular motor for OneAxisJoints. More... | |
| class | AngularMotor2Axis |
| Angular motor for TwoAxisJoints. More... | |
| class | AngularMotor3AxisEuler |
| Angular motor for Ball Joints with Euler control. More... | |
| class | AngularMotorNAxis |
| Angular motor for arbitrary Joints with custom axis (up to 3). More... | |
| class | Hinge2Servo |
| PID Servo motor for hinge2 joints at axis 1 (steering axis). More... | |
| class | HingeServo |
| PID Servo motor for hinge joints. More... | |
| class | PID |
| class | SliderServo |
| PID Servo motor for slider joints. More... | |
| class | UniversalServo |
| PID Servo motor for universal joints. More... | |
| class | AbstractGround |
| class | AbstractObstacle |
| Abstract class (interface) for obstacles. More... | |
| class | ClosedPlayground |
| class | MeshGround |
| class | MeshObstacle |
| class | OctaPlayground |
| class | PassiveBox |
| (Passive) box as obstacle More... | |
| class | PassiveCapsule |
| (Passive) capsule as obstacle More... | |
| class | PassiveMesh |
| (Passive) mesh as obstacle More... | |
| class | PassiveSphere |
| (Passive) sphere as obstacle More... | |
| class | Playground |
| class | TerrainGround |
| Class provides an terrain based on HeightFields. More... | |
| class | OdeConfig |
| The class $name holds the configurable parameters of the simulation environment. More... | |
| class | MoveEarthySkyWithEyePointTransform |
| class | Base |
| class | BoundingShape |
| class for reading bounding shape description files (.bbox) and to create appropriate geoms File Format: Lines wise, every line stands for one primitive. More... | |
| class | CameraManipulator |
| CameraManipulator is a MatrixManipulator which provides Flying simulator-like updating of the camera position & orientation. More... | |
| class | CameraManipulatorFollow |
| CameraManipulatorFollow is a MatrixManipulator which provides Flying simulator-like updating of the camera position & orientation. More... | |
| class | CameraManipulatorRace |
| CameraManipulatorRace is a MatrixManipulator which provides Flying simulator-like updating of the camera position & orientation. More... | |
| class | CameraManipulatorTV |
| CameraManipulatorTV is a MatrixManipulator which provides Flying simulator-like updating of the camera position & orientation. More... | |
| class | ExtendedViewer |
| A Producer-based viewer. More... | |
| struct | Indices |
| struct | Vertex |
| class | HeightField |
| Height field primitive. More... | |
| class | InvisibleBox |
| class | InvisibleSphere |
| class | InvisibleCapsule |
| class | Joint |
| class | OneAxisJoint |
| class | TwoAxisJoint |
| class | FixedJoint |
| class | HingeJoint |
| class | Hinge2Joint |
| class | UniversalJoint |
| class | BallJoint |
| class | SliderJoint |
| class | MotionBlurDrawCallback |
| a class that enables motion blur for the scenegraph should be called in the main simulation loop More... | |
| class | OSGHeightField |
| Graphical HeightField. More... | |
| class | OSGPrimitive |
| Interface class for graphic primitives like spheres, boxes, and meshes, which can be drawn by OSG. More... | |
| class | OSGDummy |
| A dummy graphical object, which has no representation in the graphical world. More... | |
| class | OSGPlane |
| Graphical plane (represented as a large thin box, because OSG does not draw planes). More... | |
| class | OSGBox |
| Graphical box. More... | |
| class | OSGSphere |
| Graphical sphere. More... | |
| class | OSGCapsule |
| Graphical capsule (a cylinder with round ends). More... | |
| class | OSGCylinder |
| Graphical cylinder. More... | |
| class | OSGMesh |
| Graphical Mesh or arbitrary OSG model. More... | |
| class | Primitive |
| Interface class for primitives represented in the physical and graphical world. More... | |
| class | Plane |
| Plane primitive. More... | |
| class | Box |
| Box primitive. More... | |
| class | Sphere |
| Sphere primitive. More... | |
| class | Capsule |
| Capsule primitive. More... | |
| class | Cylinder |
| Cylinder primitive. More... | |
| class | Mesh |
| Mesh primitive. More... | |
| class | Transform |
| Primitive for transforming a geom (primitive without body) in respect to a body (primitive with body). More... | |
| class | DummyPrimitive |
| Dummy Primitive which returns 0 for geom and body. More... | |
| struct | Arm2SegmConf |
| class | Arm2Segm |
| struct | AtomConf |
| class | AtomComponent |
| AtomComponent. More... | |
| class | CaterPillar |
| This is a class, which models a snake like robot. More... | |
| struct | ComponentConf |
| class | Component |
| Component. More... | |
| struct | CaterPillarConf |
| class | DefaultCaterPillar |
| This is a class, which models a snake like robot. More... | |
| struct | SliderWheelieConf |
| class | DefaultSliderWheelie |
| This is a class, which models a snake like robot. More... | |
| struct | WheelieConf |
| class | DefaultWheelie |
| This is a class, which models a snake like robot. More... | |
| class | ForcedSphere |
| class | Formel1 |
| Robot that looks like a Nimm 2 Bonbon :-) 4 wheels and a capsule like body. More... | |
| class | HurlingSnake |
| Hurling snake is a string a beats. More... | |
| struct | MuscledArmConf |
| class | MuscledArm |
| struct | Bumper |
| struct | Nimm2Conf |
| class | Nimm2 |
| Robot that looks like a Nimm 2 Bonbon :-) 2 wheels and a cylinder like body. More... | |
| class | Nimm4 |
| Robot that looks like a Nimm 2 Bonbon :-) 4 wheels and a capsule like body. More... | |
| class | OdeRobot |
| Abstract class for ODE robots. More... | |
| class | PrimitiveComponent |
| Component consisting of one Primitive. More... | |
| class | RobotComponent |
| RobotComponent. More... | |
| struct | SchlangeConf |
| class | Schlange |
| This is a class, which models a snake like robot. More... | |
| class | SchlangeForce |
| This is a class, which models a snake like robot. More... | |
| class | SchlangeServo |
| This is a class, which models a snake like robot. More... | |
| class | SchlangeServo2 |
| This is a class, which models a snake like robot. More... | |
| class | SchlangeVelocity |
| This is a class, which models a snake like robot. More... | |
| class | ShortCircuit |
| class | SimpleComponent |
| SimpleComponent. More... | |
| class | SliderWheelie |
| This is a class, which models an annular robot. More... | |
| struct | SphererobotConf |
| class | Sphererobot |
| This is a class, which models a snake like robot. More... | |
| struct | Sphererobot3MassesConf |
| configuration object for the Sphererobot3Masses robot. More... | |
| class | Sphererobot3Masses |
| A spherical robot with 3 internal masses, which can slide on their orthogonal axes. More... | |
| class | TruckMesh |
| Robot that looks like a Nimm 2 Bonbon :-) 4 wheels and a truck mesh like body. More... | |
| struct | UwoConf |
| class | Uwo |
| UWO: Unknown Walk Object :-), looks like a plate with a lot of legs. More... | |
| class | Wheelie |
| This is a class, which models an annular robot. More... | |
| class | IRSensor |
| Class for IR sensors. More... | |
| class | RaySensor |
| Abstract class for Ray-based sensors. More... | |
| class | RaySensorBank |
| Class for a bank of ray sensors. More... | |
| class | Simulation |
| class | Axis |
| class | Color |
| class | IException |
| struct | GlobalData |
| Data structure holding all essential global information. More... | |
| class | VideoStream |
| class | OdeHandle |
| Data structure for accessing the ODE. More... | |
| class | OsgHandle |
| Data structure for accessing the ODE. More... | |
| class | Pos |
Typedefs | |
| typedef lpzrobots::Bumper | Bumper |
| typedef std::vector< AbstractObstacle * > | ObstacleList |
| typedef std::vector< Configurable * > | ConfigList |
| typedef std::vector< OdeAgent * > | OdeAgentList |
| typedef lpzrobots::GlobalData | GlobalData |
| Data structure holding all essential global information. | |
Enumerations | |
| enum | parts { base, upperArm, lowerArm, mainMuscle11, mainMuscle12, mainMuscle21, mainMuscle22, smallMuscle11, smallMuscle12, smallMuscle21, smallMuscle22, smallMuscle31, smallMuscle32, smallMuscle41, smallMuscle42, hand, NUMParts } |
| enum | joints { HJ_BuA, HJ_uAlA, HJ_BmM11, HJ_lAmM12, HJ_BmM21, HJ_lAmM22, HJ_BsM11, HJ_uAsM12, HJ_BsM21, HJ_uAsM22, HJ_lAsM31, HJ_uAsM32, HJ_lAsM41, HJ_uAsM42, SJ_mM1, SJ_mM2, SJ_sM1, SJ_sM2, SJ_sM3, SJ_sM4, FJ_lAH, NUMJoints } |
| enum | CameraType { Static, TV, Following, advancedTV, advancedFollowing } |
Functions | |
| ref_ptr< Material > | getMaterial (const Color &c, Material::ColorMode mode=Material::DIFFUSE) |
| osg::Matrix | osgPose (dGeomID geom) |
| returns the osg (4x4) pose matrix of the ode geom | |
| osg::Matrix | osgPose (dBodyID body) |
| returns the osg (4x4) pose matrix of the ode body | |
| osg::Matrix | osgPose (const double *position, const double *rotation) |
| converts a position vector and a rotation matrix from ode to osg 4x4 matrix | |
| void | odeRotation (const osg::Matrix &pose, dMatrix3 &odematrix) |
| converts the rotation component of pose into an ode rotation matrix | |
| int | contains (char **list, int len, const char *str) |
| returns the index+1 if the list contains the given string or 0 if not | |
| void | showParams (const ConfigList &configs) |
| shows all parameters of all given configurable objects | |
| void | changeParams (ConfigList &configs) |
| offers the possibility to change parameter of all configurable objects | |
| void | createNewDir (const char *base, char *newdir) |
| creates a new directory with the stem base, which is not yet there (using subsequent numbers) | |
| void | moveCamera (CameraType camType, OdeRobot &robot) |
| void | moveBehindRobot (OdeRobot &robot) |
| void | moveOnRobot (OdeRobot &robot) |
| void | printMode (CameraType camType) |
| EXCEPTION_TEMPLATE (IndexOutOfBoundsException) | |
| EXCEPTION_TEMPLATE (InvalidArgumentException) | |
| EXCEPTION_TEMPLATE (DimensionMismatchException) | |
| osg::Matrix | osgRotate (const double &alpha, const double &beta, const double &gamma) |
| returns a rotation matrix (osg) with the given angles alpha, beta and gamma | |
| Matrix | osgMatrix2Matrixlib (const osg::Matrix &m) |
| converts osg matrix to matrix of matrixlib | |
| osg::Matrix | rotationMatrixFromAxisX (const Axis &axis) |
| returns a Rotation matrix that rotates the x-axis along with the given axis. | |
| osg::Matrix | rotationMatrixFromAxisZ (const Axis &axis) |
| returns a Rotation matrix that rotates the z-axis along with the given axis. | |
| double | getAngle (const osg::Vec3 &a, const osg::Vec3 &b) |
| returns the angle between two vectors (in rad) | |
| Position | multMatrixPosition (const matrix::Matrix &r, Position &p) |
| Multiplies 3x3 matrix with position. | |
| Matrix | getRotationMatrix (const double &angle) |
| returns a rotation matrix with the given angle | |
| Matrix | getTranslationMatrix (const Position &p) |
| returns a translation matrix with the given Position | |
| Matrix | removeTranslationInMatrix (const matrix::Matrix &pose) |
| removes the translation in the matrix | |
| Matrix | removeRotationInMatrix (const matrix::Matrix &pose) |
| removes the rotation in the matrix | |
| double | getAngle (Position a, Position b) |
| returns the angle between two vectors | |
| template<typename T> | |
| T | clip (T v, T minimum, T maximum) |
| template<typename T> | |
| T | abs (T v) |
| template<typename T> | |
| T | normalize360 (T v) |
Variables | |
| char | fragmentShaderSource_noBaseTexture [] |
| char | fragmentShaderSource_withBaseTexture [] |
| typedef struct lpzrobots::Bumper Bumper |
| typedef std::vector<AbstractObstacle*> ObstacleList |
| typedef std::vector<Configurable*> ConfigList |
| typedef std::vector<OdeAgent*> OdeAgentList |
| typedef struct lpzrobots::GlobalData GlobalData |
Data structure holding all essential global information.
| enum parts |
| enum joints |
| enum CameraType |
| ref_ptr< Material > getMaterial | ( | const Color & | c, | |
| Material::ColorMode | mode = Material::DIFFUSE | |||
| ) |
| osg::Matrix osgPose | ( | dGeomID | geom | ) |
returns the osg (4x4) pose matrix of the ode geom
| osg::Matrix osgPose | ( | dBodyID | body | ) |
returns the osg (4x4) pose matrix of the ode body
| osg::Matrix osgPose | ( | const double * | V, | |
| const double * | R | |||
| ) |
converts a position vector and a rotation matrix from ode to osg 4x4 matrix
| void odeRotation | ( | const osg::Matrix & | pose, | |
| dMatrix3 & | odematrix | |||
| ) |
converts the rotation component of pose into an ode rotation matrix
| int contains | ( | char ** | list, | |
| int | len, | |||
| const char * | str | |||
| ) |
returns the index+1 if the list contains the given string or 0 if not
| void showParams | ( | const ConfigList & | configs | ) |
shows all parameters of all given configurable objects
| void changeParams | ( | ConfigList & | configs | ) |
offers the possibility to change parameter of all configurable objects
| void createNewDir | ( | const char * | base, | |
| char * | newdir | |||
| ) |
creates a new directory with the stem base, which is not yet there (using subsequent numbers)
| void lpzrobots::moveCamera | ( | CameraType | camType, | |
| OdeRobot & | robot | |||
| ) |
| void lpzrobots::moveBehindRobot | ( | OdeRobot & | robot | ) |
| void lpzrobots::moveOnRobot | ( | OdeRobot & | robot | ) |
| void lpzrobots::printMode | ( | CameraType | camType | ) |
| lpzrobots::EXCEPTION_TEMPLATE | ( | IndexOutOfBoundsException | ) |
| lpzrobots::EXCEPTION_TEMPLATE | ( | InvalidArgumentException | ) |
| lpzrobots::EXCEPTION_TEMPLATE | ( | DimensionMismatchException | ) |
| osg::Matrix osgRotate | ( | const double & | alpha, | |
| const double & | beta, | |||
| const double & | gamma | |||
| ) |
returns a rotation matrix (osg) with the given angles alpha, beta and gamma
| matrix::Matrix osgMatrix2Matrixlib | ( | const osg::Matrix & | m | ) |
converts osg matrix to matrix of matrixlib
| osg::Matrix rotationMatrixFromAxisX | ( | const Axis & | axis | ) |
returns a Rotation matrix that rotates the x-axis along with the given axis.
The other 2 axis (y,z) are ambiguous.
| osg::Matrix rotationMatrixFromAxisZ | ( | const Axis & | axis | ) |
returns a Rotation matrix that rotates the z-axis along with the given axis.
The other 2 axis (x,y) are ambiguous.
returns the angle between two vectors (in rad)
| matrix::Matrix getRotationMatrix | ( | const double & | angle | ) |
returns a rotation matrix with the given angle
| matrix::Matrix getTranslationMatrix | ( | const Position & | p | ) |
returns a translation matrix with the given Position
| matrix::Matrix removeTranslationInMatrix | ( | const Matrix & | pose | ) |
removes the translation in the matrix
| matrix::Matrix removeRotationInMatrix | ( | const Matrix & | pose | ) |
removes the rotation in the matrix
Initial value:
"uniform sampler2DShadow shadowTexture; \n" "uniform vec2 ambientBias; \n" "\n" "void main(void) \n" "{ \n" " ambientBias.x=0.8f; \n" " ambientBias.y=0.4f; \n" " gl_FragColor = gl_Color * (ambientBias.x + shadow2DProj( shadowTexture, gl_TexCoord[0] ) * ambientBias.y - 0.4f); \n" "}\n"
Initial value:
"uniform sampler2D baseTexture; \n" "uniform sampler2DShadow shadowTexture; \n" "uniform vec2 ambientBias; \n" "\n" "void main(void) \n" "{ \n" " vec4 color = gl_Color* texture2D( baseTexture, gl_TexCoord[0].xy ); \n" " gl_FragColor = color * (ambientBias.x + shadow2DProj( shadowTexture, gl_TexCoord[1]) * ambientBias.y); \n" "}\n"
1.4.7