The class modelling the Khepera robot. More...

Inheritance diagram for Khepera:

Public Member Functions

 Khepera (ConfigurationParameters &params, QString prefix)
 Constructor. More...
 
virtual ~Khepera ()
 Destructor. More...
 
virtual bool isKinematic () const
 Returns true if the robot is in kinematic mode. More...
 
virtual real orientation (const Box2DWrapper *plane) const
 Returns the orientation of the robot. More...
 
virtual wVector position () const
 Returns the position of the robot. More...
 
virtual QColor robotColor () const
 Returns the color of the robot. More...
 
virtual real robotHeight () const
 Returns the height of the robot. More...
 
virtual real robotRadius () const
 Returns the radius of the robot. More...
 
virtual void save (ConfigurationParameters &params, QString prefix)
 Saves the actual status of parameters into the ConfigurationParameters object passed. More...
 
virtual void setOrientation (const Box2DWrapper *plane, real angle)
 Sets the orientation of the robot. More...
 
virtual void setPosition (const Box2DWrapper *plane, real x, real y)
 Sets the position of the robot in the plane. More...
 
- Public Member Functions inherited from RobotOnPlane
 RobotOnPlane (ConfigurationParameters &params, QString prefix)
 Constructor. More...
 
virtual ~RobotOnPlane ()
 Destructor. More...
 
void setPosition (const Box2DWrapper *plane, const wVector &pos)
 Sets the position of the robot in the plane. More...
 
- Public Member Functions inherited from Robot
 Robot (ConfigurationParameters &params, QString prefix)
 Constructor. More...
 
virtual ~Robot ()
 Destructor. More...
 
- Public Member Functions inherited from ParameterSettableInConstructor
 ParameterSettableInConstructor (ConfigurationParameters &, QString)
 
- Public Member Functions inherited from ParameterSettable
void addObserver (RuntimeParameterObserver *obs)
 
getRuntimeParameter (QString paramName)
 
virtual ParameterSettableUIgetUIManager ()
 
virtual void postConfigureInitialization ()
 
void removeObserver (RuntimeParameterObserver *obs)
 
void setRuntimeParameter (QString paramName, T newvalue)
 
QString typeName () const
 
- Public Member Functions inherited from PhyKhepera
 PhyKhepera (World *world, QString name, const wMatrix &transformation=wMatrix::identity())
 
void doKinematicSimulation (bool k)
 
bool getDrawFrontMarker () const
 
bool isKinematic () const
 
virtual void postUpdate ()
 
virtual void preUpdate ()
 
SimulatedIRProximitySensorControllerproximityIRSensorController ()
 
void setDrawFrontMarker (bool drawMarker)
 
void setProximityIRSensorsGraphicalProperties (bool drawSensor, bool drawRay=false, bool drawRealRay=false)
 
WheelMotorControllerwheelsController ()
 
- Public Member Functions inherited from WObject
 WObject (World *world, QString name="unamed", const wMatrix &tm=wMatrix::identity(), bool addToWorld=true)
 
QColor color () const
 
void drawLocalAxes (bool d)
 
bool isInvisible () const
 
const QString & label () const
 
const QColor & labelColor () const
 
const wVector & labelPosition () const
 
bool labelShown () const
 
bool localAxesDrawn () const
 
const wMatrixmatrix () const
 
QString name () const
 
void setAlpha (int alpha)
 
void setColor (QColor c)
 
void setInvisible (bool b)
 
void setLabel (QString label)
 
void setLabel (QString label, wVector pos, QColor color)
 
void setLabel (QString label, wVector pos)
 
void setLabelColor (const QColor &color)
 
void setLabelPosition (const wVector &pos)
 
void setMatrix (const wMatrix &newm)
 
void setPosition (real x, real y, real z)
 
void setPosition (const wVector &newpos)
 
void setTexture (QString textureName)
 
void setUseColorTextureOfOwner (bool b)
 
void showLabel (bool show)
 
QString texture () const
 
bool useColorTextureOfOwner () const
 
const Worldworld () const
 
Worldworld ()
 
- Public Member Functions inherited from Ownable
const QList< Owned > & owned () const
 
Ownableowner () const
 
void setOwner (Ownable *owner, bool destroy=true)
 

Static Public Member Functions

static void describe (QString type)
 Add to Factory::typeDescriptions() the descriptions of all parameters and subgroups. More...
 
- Static Public Member Functions inherited from RobotOnPlane
static void describe (QString type)
 Add to Factory::typeDescriptions() the descriptions of all parameters and subgroups. More...
 
- Static Public Member Functions inherited from ParameterSettable
static void describe (QString type)
 
static QString fullParameterDescriptionPath (QString type, QString param)
 
static QString fullSubgroupDescriptionPath (QString type, QString sub)
 

Additional Inherited Members

- Public Types inherited from ParameterSettable
enum  Property
 
- Public Types inherited from Ownable
typedef QList< OwnedOwnedList
 
- Public Attributes inherited from ParameterSettable
 AllowMultiple
 
 Default
 
 IsList
 
 IsMandatory
 
- Static Public Attributes inherited from ParameterSettable
static const double Infinity
 
static const int MaxInteger
 
static const int MinInteger
 
- Static Public Attributes inherited from PhyKhepera
static const real axletrack
 
static const real bodydistancefromground
 
static const real bodyh
 
static const real bodym
 
static const real bodyr
 
static const real passivewheelm
 
static const real passivewheelr
 
static const real wheelh
 
static const real wheelm
 
static const real wheelr
 
- Protected Slots inherited from PhyKhepera
void setLeftWheelDesideredVelocity (real velocity)
 
void setRightWheelDesideredVelocity (real velocity)
 
- Protected Member Functions inherited from RobotOnPlane
const QColor & configuredRobotColor () const
 Returns the robot color specified by the configuration parameter. More...
 
- Protected Member Functions inherited from ParameterSettable
void notifyChangesToParam (QString paramName)
 
- Protected Member Functions inherited from PhyKhepera
virtual void changedMatrix ()
 
- Static Protected Member Functions inherited from ParameterSettable
static Descriptor addTypeDescription (QString type, QString shortHelp, QString longHelp=QString(""))
 
static void setGraphicalEditor (QString type)
 
- Protected Attributes inherited from WObject
QColor colorv
 
bool invisible
 
QColor labelcol
 
bool labeldrawn
 
wVector labelpos
 
QString labelv
 
bool localFrameOfReferenceDrawn
 
QString namev
 
QString texturev
 
wMatrix tm
 
bool usecolortextureofowner
 
Worldworldv
 

Detailed Description

The class modelling the Khepera robot.

This inherits from PhyKhepera, so you can use all its methods

Definition at line 526 of file robots.h.

Constructor & Destructor Documentation

Khepera ( ConfigurationParameters params,
QString  prefix 
)

Constructor.

Parameters
paramsthe configuration parameters object with parameters to use
prefixthe prefix to use to access the object configuration parameters. This is guaranteed to end with the separator character when called by the factory, so you don't need to add one

Definition at line 368 of file robots.cpp.

References RobotOnPlane::configuredRobotColor(), PhyKhepera::doKinematicSimulation(), farsa::robotConfigurationUtilities::extractRobotName(), farsa::robotConfigurationUtilities::extractRobotTranformation(), farsa::robotConfigurationUtilities::extractWorld(), ConfigurationHelper::getBool(), PhyKhepera::proximityIRSensorController(), WObject::setColor(), PhyKhepera::setDrawFrontMarker(), SensorController::setEnabled(), MotorController::setEnabled(), PhyKhepera::setProximityIRSensorsGraphicalProperties(), and PhyKhepera::wheelsController().

~Khepera ( )
virtual

Destructor.

Definition at line 418 of file robots.cpp.

Member Function Documentation

void describe ( QString  type)
static

Add to Factory::typeDescriptions() the descriptions of all parameters and subgroups.

Parameters
typeis the name of the type regarding the description. The type is used when a subclass reuse the description of its parent calling the parent describe method passing the type of the subclass. In this way, the result of the method describe of the parent will be the addition of the description of the parameters of the parent class into the type of the subclass

Definition at line 395 of file robots.cpp.

References ParameterSettable::addTypeDescription(), and RobotOnPlane::describe().

bool isKinematic ( ) const
virtual

Returns true if the robot is in kinematic mode.

Returns
true if the robot is in kinematic mode

Implements RobotOnPlane.

Definition at line 459 of file robots.cpp.

References PhyKhepera::isKinematic().

real orientation ( const Box2DWrapper plane) const
virtual

Returns the orientation of the robot.

This returns the angle around the z axis of the "plane". An angle of 0 means that the X axis of the plane and of the robot are coincident (positive angles follow the right-hand rule). This function returns the angle in radiants

Parameters
planethe plane on which the robot is placed. You can use the plane returned by Arena::getPlane(), here.
Warning
the orientation returned by this function is not the same as the orientation set by setOrientation, there is a difference of (pi/2)

Implements RobotOnPlane.

Definition at line 443 of file robots.cpp.

References WObject::matrix(), and Box2DWrapper::phyObject().

wVector position ( ) const
virtual

Returns the position of the robot.

Returns
the position of the robot

Implements RobotOnPlane.

Definition at line 428 of file robots.cpp.

References WObject::matrix().

Referenced by KheperaGroundSensor::update().

QColor robotColor ( ) const
virtual

Returns the color of the robot.

Returns
the color of the robot

Implements RobotOnPlane.

Definition at line 464 of file robots.cpp.

References WObject::color().

real robotHeight ( ) const
virtual

Returns the height of the robot.

This is the height of the cylinder containing the robot. In some cases wheeled robots are modelled as cylinders to simplify calculations

Returns
the height of the robot

Implements RobotOnPlane.

Definition at line 449 of file robots.cpp.

References PhyKhepera::bodydistancefromground, and PhyKhepera::bodyh.

real robotRadius ( ) const
virtual

Returns the radius of the robot.

This is the radius of the cylinder containing the robot. In some cases wheeled robots are modelled as cylinders to simplify calculations

Returns
the radius of the robot

Implements RobotOnPlane.

Definition at line 454 of file robots.cpp.

References PhyKhepera::bodyr.

void save ( ConfigurationParameters params,
QString  prefix 
)
virtual

Saves the actual status of parameters into the ConfigurationParameters object passed.

This is not implemented, calling this causes an abort

Parameters
paramsthe configuration parameters object on which save actual parameters
prefixthe prefix to use to access the object configuration parameters.

Reimplemented from RobotOnPlane.

Definition at line 390 of file robots.cpp.

References Logger::error().

void setOrientation ( const Box2DWrapper plane,
real  angle 
)
virtual

Sets the orientation of the robot.

This modifies the angle around the z axis of the "plane". An angle of 0 means that the X axis of the plane and of the robot are coincident (positive angles follow the right-hand rule). This function wants the angle in radiants

Parameters
planethe plane on which the robot is placed. You can use the plane returned by Arena::getPlane(), here.
anglethe new orientation in radiants

Implements RobotOnPlane.

Definition at line 433 of file robots.cpp.

References WObject::matrix(), and WObject::setMatrix().

void setPosition ( const Box2DWrapper plane,
real  x,
real  y 
)
virtual

Sets the position of the robot in the plane.

The robot is placed on the face of the "plane" parallel to the local XY plane and with positive z coordinate.

Parameters
planethe plane on which the robot should be placed. You can use the plane returned by Arena::getPlane(), here.
xthe new x coordinate
ythe new y coordinate

Implements RobotOnPlane.

Definition at line 422 of file robots.cpp.

References WObject::setPosition().


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