The class modelling an e-puck robot. More...

Inheritance diagram for PhyEpuck:

Public Member Functions
	PhyEpuck (World *world, QString name, const wMatrix &transformation=wMatrix::identity())
	Creates an e-puck robot. More...

virtual	~PhyEpuck ()
	Destructor. More...

void	doKinematicSimulation (bool k)
	Changes the robot model from dynamic to kinematic and vice-versa. More...

bool	getDrawFrontMarker () const
	Returns whether a marker in the front part of the robot is drawn or not. More...

SimulatedIRGroundSensorController *	groundIRSensorController ()
	Returns the ground IR sensors controller. More...

bool	isKinematic () const
	Returns true if we are using the kinematic model. More...

QList< QColor >	ledColors () const
	Returns the color of the leds. More...

virtual void	postUpdate ()
	Post-updates the robot. More...

virtual void	preUpdate ()
	Pre-updates the robot. More...

SimulatedIRProximitySensorController *	proximityIRSensorController ()
	Returns the proximity infrared sensors controller. More...

const QList< PhyCylinder::SegmentColor > &	segmentsColor () const
	Returns the colors of segments of the turret. More...

void	setDrawFrontMarker (bool drawMarker)
	Whether to draw a marker in the front part of the robot or not. More...

void	setGroundIRSensorsGraphicalProperties (bool drawSensor, bool drawRay=false, bool drawRealRay=false)
	Sets whether ground IR sensors are drawn or not and how. More...

void	setLedColors (QList< QColor > c, QColor upperBaseColor=QColor())
	Sets the color of the leds of the epuck. More...

void	setProximityIRSensorsGraphicalProperties (bool drawSensor, bool drawRay=false, bool drawRealRay=false)
	Sets whether proximity IR sensors are drawn or not and how. More...

WheelMotorController *	wheelsController ()
	Returns the motor controller for the wheels. More...

Public Member Functions inherited from WObject
	WObject (World *world, QString name="unamed", const wMatrix &tm=wMatrix::identity(), bool addToWorld=true)
	create the object and automatically put this into the world More...

virtual	~WObject ()
	destroy the Object and drop it from the world More...

QColor	color () const
	return the color of this object More...

void	drawLocalAxes (bool d)
	Sets whether the object local frame of reference should be drawn or not. More...

bool	isInvisible () const
	return if it is invisible More...

const QString &	label () const
	Returns the text label to render along with the object. More...

const QColor &	labelColor () const
	Returns the color of the label. More...

const wVector &	labelPosition () const
	Returns the label position relative to this object. More...

bool	labelShown () const
	Returns whether the label is shown or not. More...

bool	localAxesDrawn () const
	Returns true if the local frame of refecence of the object should be drawn. More...

const wMatrix &	matrix () const
	return a reference to the transformation matrix More...

QString	name () const
	Return the name of this object. More...

void	setAlpha (int alpha)
	set the value of alpha channel (the transparency) More...

void	setColor (QColor c)
	Set the color to use on rendering. More...

void	setInvisible (bool b)
	set invisibility More...

void	setLabel (QString label)
	Sets a text label to render along with the object. More...

void	setLabel (QString label, wVector pos)
	Sets a text label to render along with the object and its position. More...

void	setLabel (QString label, wVector pos, QColor color)
	Sets a text label to render along with the object and its position and color. More...

void	setLabelColor (const QColor &color)
	Sets the color of the label. More...

void	setLabelPosition (const wVector &pos)
	Sets the label position relative to this object. More...

void	setMatrix (const wMatrix &newm)
	set a new matrix More...

void	setPosition (const wVector &newpos)
	set the position specified in global coordinate frame More...

void	setPosition (real x, real y, real z)
	set the position specified in global coordinate frame More...

void	setTexture (QString textureName)
	Set the texture to use for this WObject when rendered. More...

void	setUseColorTextureOfOwner (bool b)
	set if the object will be rendered with the color and texture of our owner (if we have one) More...

void	showLabel (bool show)
	Sets whether to show the label or not. More...

QString	texture () const
	Return the texture name. More...

bool	useColorTextureOfOwner () const
	if true, we will use color and texture of our owner (if we have one) More...

World *	world ()
	Return the world. More...

const World *	world () const
	Return the world (const version) More...

Public Member Functions inherited from Ownable
	Ownable ()
	Constructor. More...

virtual	~Ownable ()
	Destructor. More...

const QList< Owned > &	owned () const
	Returns the list of objects owned by this one. More...

Ownable *	owner () const
	Returns the owner of this object. More...

void	setOwner (Ownable *owner, bool destroy=true)
	Sets the owner of this object. More...

Static Public Attributes
static const real	axletrack = 0.053f
	The distance between the two motorized wheels. More...

static const real	batterym = 0.042f
	The mass of the battery. More...

static const real	batteryplacedistancefromground = 0.0015f
	The distance of the battery pack from the ground. More...

static const real	batteryplacex = 0.043f
	The x dimension of the battery pack under the robot. More...

static const real	batteryplacey = 0.055f
	The y dimension of the battery pack under the robot. More...

static const real	batteryplacez = 0.033f
	The z dimension of the battery pack under the robot. More...

static const real	bodyh = 0.021f
	The height of the upper part of the robot (containing the main electionic board) More...

static const real	bodyr = 0.035f
	The radius of the upper part of the robot (containing the main electionic board) More...

static const real	passivewheelm = 0.005f
	The mass of the passive wheels. More...

static const real	passivewheelr = 0.005f
	The radius of the passive wheels. More...

static const real	wheelh = 0.003f
	The height of the motorized wheels. More...

static const real	wheelm = 0.010f
	The mass of one motorized wheel. More...

static const real	wheelr = 0.0205f
	The radius of the motorized wheels. More...

static const real	wholebodym = 0.078f
	The mass of the robot without the wheels and the battery. More...

Protected Slots
void	setLeftWheelDesideredVelocity (real velocity)
	Sets the desidered velocity of the left wheel. More...

void	setRightWheelDesideredVelocity (real velocity)
	Sets the desidered velocity of the right wheel. More...

Protected Member Functions
virtual void	changedMatrix ()
	The function called when the transformation matrix of the robot is changed. More...

Additional Inherited Members
Public Types inherited from Ownable
typedef QList< Owned >	OwnedList
	The type for the list of owned objects. More...

Protected Attributes inherited from WObject
QColor	colorv
	Color, it contains also alpha channel. More...

bool	invisible
	if TRUE it will not renderized More...

QColor	labelcol
	The color of the label. More...

bool	labeldrawn
	Whether the label should be rendered or not. More...

wVector	labelpos
	The position of the label in the object frame of reference. More...

QString	labelv
	The text label of the object. More...

bool	localFrameOfReferenceDrawn
	If true, the local frame of reference of the object is drawn. More...

QString	namev
	Name of the WObject. More...

QString	texturev
	Texture name. More...

wMatrix	tm
	Trasformation matrix. More...

bool	usecolortextureofowner
	if true, we will use color and texture of our owner (if we have one). More...

World *	worldv
	World. More...

Detailed Description

The class modelling an e-puck robot.

This class models an e-puck robot. For more information about the robot go to http://mobots.epfl.ch/e-puck.html

Definition at line 46 of file phyepuck.h.

Constructor & Destructor Documentation

PhyEpuck	(	World *	world,
		QString	name,
		const wMatrix &	transformation = `wMatrix::identity()`
	)

Creates an e-puck robot.

Parameters

world	the world in which the robot lives
name	the name of the robots
transformation	the transformation matrix of the robot

Definition at line 54 of file phyepuck.cpp.

References PhyEpuck::axletrack, PhyEpuck::batterym, PhyEpuck::batteryplacedistancefromground, PhyEpuck::batteryplacex, PhyEpuck::batteryplacey, PhyEpuck::batteryplacez, PhyEpuck::bodyh, PhyEpuck::bodyr, MaterialDB::createMaterial(), PhyJoint::dofs(), wMatrix::identity(), World::materials(), WObject::matrix(), PhyEpuck::passivewheelm, PhyEpuck::passivewheelr, wMatrix::pitch(), WObject::setColor(), PhyEpuck::setLeftWheelDesideredVelocity(), PhyObject::setMass(), WObject::setMatrix(), Ownable::setOwner(), MaterialDB::setProperties(), PhyEpuck::setRightWheelDesideredVelocity(), WheelMotorController::setSpeedLimits(), WObject::tm, farsa::toRad(), PhyJoint::updateJointInfo(), PhyEpuck::wheelh, PhyEpuck::wheelm, PhyEpuck::wheelr, PhyEpuck::wholebodym, and wMatrix::yaw().

~PhyEpuck ( )

virtual

Destructor.

Definition at line 274 of file phyepuck.cpp.

Member Function Documentation

void changedMatrix ( )

protectedvirtual

The function called when the transformation matrix of the robot is changed.

This updates the matrix of all sub-objects

Reimplemented from WObject.

Definition at line 442 of file phyepuck.cpp.

References WObject::matrix(), WObject::setMatrix(), WObject::tm, and PhyJoint::updateJointInfo().

void doKinematicSimulation ( bool k )

Changes the robot model from dynamic to kinematic and vice-versa.

Parameters

k	if true switches to the kinematic e-puck model, if false to the dynamic one (at creation the model is always dynamic)

Definition at line 355 of file phyepuck.cpp.

References PhyObject::setKinematic().

bool getDrawFrontMarker ( ) const

Returns whether a marker in the front part of the robot is drawn or not.

Returns: true if a marker in the front part of the robot is drawn

Definition at line 350 of file phyepuck.cpp.

Referenced by PhyEpuck::setDrawFrontMarker().

SimulatedIRGroundSensorController* groundIRSensorController ( )

inline

Returns the ground IR sensors controller.

Returns: the ground IR sensors controller

Definition at line 169 of file phyepuck.h.

bool isKinematic ( ) const

inline

Returns true if we are using the kinematic model.

Returns: true if we are using the kinematic model

Definition at line 247 of file phyepuck.h.

QList< QColor > ledColors ( ) const

Returns the color of the leds.

Returns: the color of leds

Definition at line 409 of file phyepuck.cpp.

References WObject::color().

void postUpdate ( )

virtual

Post-updates the robot.

This method is called at each step of the world just after the physic update

Reimplemented from WObject.

Definition at line 305 of file phyepuck.cpp.

References SensorController::isEnabled(), WObject::matrix(), WObject::tm, SimulatedIRProximitySensorController::update(), and SimulatedIRGroundSensorController::update().

void preUpdate ( )

virtual

Pre-updates the robot.

This method is called at each step of the world just before the physic update

Reimplemented from WObject.

Definition at line 288 of file phyepuck.cpp.

References PhyEpuck::axletrack, MotorController::isEnabled(), WObject::matrix(), WObject::setMatrix(), WheelMotorController::update(), PhyEpuck::wheelr, and WObject::world().

SimulatedIRProximitySensorController* proximityIRSensorController ( )

inline

Returns the proximity infrared sensors controller.

Returns: the proximity infrared sensors controller

Definition at line 159 of file phyepuck.h.

const QList< PhyCylinder::SegmentColor > & segmentsColor ( ) const

Returns the colors of segments of the turret.

This is a low-level function that returns the color of segments on the turrent

Returns: the colors of segments of the turret

Definition at line 422 of file phyepuck.cpp.

References WObject::color(), and PhyCylinder::segmentsColor().

void setDrawFrontMarker ( bool drawMarker )

Whether to draw a marker in the front part of the robot or not.

Parameters

drawMarker if true draws a marker in the front part of the robot

Definition at line 329 of file phyepuck.cpp.

References GraphicalWObject::attachToObject(), PhyEpuck::batteryplacedistancefromground, PhyEpuck::batteryplacez, PhyEpuck::bodyh, PhyEpuck::bodyr, PhyEpuck::getDrawFrontMarker(), wMatrix::roll(), WObject::setColor(), WObject::setTexture(), WObject::setUseColorTextureOfOwner(), and WObject::world().

void setGroundIRSensorsGraphicalProperties	(	bool	drawSensor,
		bool	drawRay = `false`,
		bool	drawRealRay = `false`
	)

Sets whether ground IR sensors are drawn or not and how.

Parameters

drawSensor	whether to draw the sensor or not
drawRay	whether to draw the IR rays or not
drawRealRay	if true rays are drawn in their actual length, otherwise only the direction is given

Definition at line 324 of file phyepuck.cpp.

References SimulatedIRGroundSensorController::setGraphicalProperties().

void setLedColors	(	QList< QColor >	c,
		QColor	upperBaseColor = `QColor()`
	)

Sets the color of the leds of the epuck.

This function takes a list of exactly 8 colors for the leds. If this function is never called, all leds take the color set by setColor(). As soon as this function is called, the color of the leds becomes indipendent of the color set by setColor()

Parameters

c	the list of colors of leds. This must have exactly 8 elements, otherwise colors are not changed
upperBaseColor	the color of the upper base. This is ignored if it is an invalid color

Definition at line 388 of file phyepuck.cpp.

References WObject::color(), farsa::normalizeRad(), PhyCylinder::setLowerBaseColor(), PhyCylinder::setSegmentsColor(), PhyCylinder::setUpperBaseColor(), and WObject::setUseColorTextureOfOwner().

void setLeftWheelDesideredVelocity ( real velocity )

protectedslot

Sets the desidered velocity of the left wheel.

This is used when in kinematic to move the robot. We only use velocity because robots can only move by setting wheel velocities

Parameters

velocity the desidered velocity (in radiants per second)

Definition at line 432 of file phyepuck.cpp.

Referenced by PhyEpuck::PhyEpuck().

void setProximityIRSensorsGraphicalProperties	(	bool	drawSensor,
		bool	drawRay = `false`,
		bool	drawRealRay = `false`
	)

Sets whether proximity IR sensors are drawn or not and how.

Parameters

drawSensor	whether to draw the sensor or not
drawRay	whether to draw the IR rays or not
drawRealRay	if true rays are drawn in their actual length, otherwise only the direction is given

Definition at line 319 of file phyepuck.cpp.

References SimulatedIRProximitySensorController::setGraphicalProperties().

void setRightWheelDesideredVelocity ( real velocity )

protectedslot

Sets the desidered velocity of the right wheel.

This is used when in kinematic to move the robot. We only use velocity because robots can only move by setting wheel velocities

Parameters

velocity the desidered velocity (in radiants per second)

Definition at line 437 of file phyepuck.cpp.

Referenced by PhyEpuck::PhyEpuck().

WheelMotorController* wheelsController ( )

inline