The MarXbot robot. More...

Inheritance diagram for PhyMarXbot:

Public Member Functions
	PhyMarXbot (World *world, QString name, const wMatrix &tm=wMatrix::identity())
	Create a MarXbot. More...

virtual	~PhyMarXbot ()
	Destroy the MarXbot. More...

PhyObject *	attachmentDevice ()
	Returns the solid modelling the attachment device. More...

MarXbotAttachmentDeviceMotorController *	attachmentDeviceController ()
	returns the motor controller for the attachment device More...

bool	attachmentDeviceEnabled () const
	Returns true if the attachment device is enabled. More...

PhyHinge *	attachmentDeviceJoint ()
	Returns the joint of the attachment device. More...

PhyObject *	base ()
	Returns the solid modelling the base of the robot. More...

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

void	enableAttachmentDevice (bool enable)
	Enables or disables the attachment device. More...

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

SimulatedIRGroundSensorController *	groundAroundIRSensorController ()
	return the ground IR sensors on the base (just above the wheels) More...

SimulatedIRGroundSensorController *	groundBottomIRSensorController ()
	returns the ground IR sensors below the battery pack More...

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

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

virtual void	postUpdate ()
	postUpdate the robot this method is called at each step of the world just after the physic update. More...

virtual void	preUpdate ()
	preUpdate the robot this method is called at each step of the world just before the physic update. More...

SimulatedIRProximitySensorController *	proximityIRSensorController ()
	returns the proximity infrared sensors More...

void	resetAttachmentDevice ()
	Resets the attachment device. More...

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

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

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

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

void	setLedColors (QList< QColor > c)
	Sets the color of the leds on the attachring of the MarXbot. More...

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

TractionSensorController *	tractionSensorController ()
	return traction sensor of the robot More...

PhyObject *	turret ()
	Returns the solid modelling the turret of the robot. 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	attachdevm = 0.03f

static const real	attachdevr = bodyr

static const real	attachdevx = turreth * 0.8f

static const real	attachdevy = turreth * 0.4f

static const real	attachdevz = turreth * 0.2f

static const real	axledistance = 0.104f

static const real	basem = 0.4f

static const real	basex = 0.034f

static const real	basey = 0.143f

static const real	basez = 0.048f

static const real	bodyh = 0.0055f

static const real	bodym = 0.02f

static const real	bodyr = 0.085f

static const real	trackheight = 0.0295f

static const real	trackm = 0.05f

static const real	trackradius = 0.022f

static const real	treaddepth = 0.004f

static const real	turreth = 0.0385f

static const real	turretm = 0.08f

static const real	wheelh = 0.0215f

static const real	wheelm = 0.02f

static const real	wheelr = 0.027f

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 ()
	update the matrix of all sub-objects 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 MarXbot robot.

This class represents a MarXbot robot (http://mobots.epfl.ch/marxbot.html) The robot has a base with two motorize wheels and an upper part. Moreover the attachring module (the one used to connect two MarXbot robots) can be enabled or disabled. Conversely from the real robot the traction sensor on the attachring can be used even if the attachring module is disabled. This allows to have slightly faster simulations when the traction sensor is used but the possibility to attach two robots is not allowed

Definition at line 55 of file phymarxbot.h.

Constructor & Destructor Documentation

PhyMarXbot	(	World *	world,
		QString	name,
		const wMatrix &	tm = `wMatrix::identity()`
	)

Create a MarXbot.

Parameters

tm	specify the position and rotation of the marXbot

Definition at line 61 of file phymarxbot.cpp.

References WObject::color(), MaterialDB::createMaterial(), PhyJoint::dofs(), MaterialDB::enableCollision(), wMatrix::identity(), World::materials(), WObject::matrix(), wMatrix::pitch(), MaterialDB::setElasticity(), PhyMarXbot::setLeftWheelDesideredVelocity(), PhyObject::setMass(), WObject::setMatrix(), Ownable::setOwner(), PhyMarXbot::setRightWheelDesideredVelocity(), MaterialDB::setSoftness(), WheelMotorController::setSpeedLimits(), WObject::setUseColorTextureOfOwner(), WObject::tm, farsa::toRad(), PhyJoint::updateJointInfo(), WObject::world(), and wMatrix::yaw().

~PhyMarXbot ( )

virtual

Destroy the MarXbot.

Definition at line 266 of file phymarxbot.cpp.

Member Function Documentation

PhyObject* attachmentDevice ( )

inline

Returns the solid modelling the attachment device.

Returns: the solid modelling the attachment device or NULL if the attachment device is not enabled

Definition at line 221 of file phymarxbot.h.

Referenced by MarXbotAttachmentDeviceMotorController::update().

MarXbotAttachmentDeviceMotorController* attachmentDeviceController ( )

inline

returns the motor controller for the attachment device

Definition at line 109 of file phymarxbot.h.

Referenced by MarXbotAttachmentDeviceMotorController::update().

bool attachmentDeviceEnabled ( ) const

inline

Returns true if the attachment device is enabled.

Returns: true if the attachment device is enabled

Definition at line 178 of file phymarxbot.h.

Referenced by MarXbotAttachmentDeviceMotorController::attachmentDeviceEnabled(), PhyMarXbot::enableAttachmentDevice(), and PhyMarXbot::resetAttachmentDevice().

PhyHinge* attachmentDeviceJoint ( )

inline

Returns the joint of the attachment device.

Returns: the joint of the attachment device or NULL if the attachment device is not enabled

Definition at line 232 of file phymarxbot.h.

Referenced by MarXbotAttachmentDeviceMotorController::getDesiredPosition(), MarXbotAttachmentDeviceMotorController::getDesiredVelocity(), MarXbotAttachmentDeviceMotorController::getMaxVelocity(), MarXbotAttachmentDeviceMotorController::getPosition(), MarXbotAttachmentDeviceMotorController::getVelocity(), MarXbotAttachmentDeviceMotorController::setDesiredPosition(), MarXbotAttachmentDeviceMotorController::setDesiredVelocity(), and MarXbotAttachmentDeviceMotorController::setMaxVelocity().

PhyObject* base ( )

inline

Returns the solid modelling the base of the robot.

Returns: the solid modelling the base of the robot

Definition at line 198 of file phymarxbot.h.

void changedMatrix ( )

protectedvirtual

update the matrix of all sub-objects

Reimplemented from WObject.

Definition at line 515 of file phymarxbot.cpp.

References WObject::matrix(), WObject::setMatrix(), WObject::tm, PhyFixed::updateJointInfo(), PhyHinge::updateJointInfo(), 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 MarXbot model, if false to the dynamic one (at creation the model is always dynamic)

Definition at line 407 of file phymarxbot.cpp.

References PhyJoint::enable(), PhyObject::setKinematic(), PhyFixed::updateJointInfo(), and PhyHinge::updateJointInfo().

void enableAttachmentDevice ( bool enable )

Enables or disables the attachment device.

Parameters

enable if true enables the attachment device, if false disables it

Note: When the attachment device is disabled, the parts making it up are deleted

Definition at line 366 of file phymarxbot.cpp.

References PhyMarXbot::attachmentDeviceEnabled(), PhyJoint::dofs(), WObject::matrix(), PhyObject::setMass(), WObject::setMatrix(), Ownable::setOwner(), and WObject::world().

Referenced by PhyMarXbot::resetAttachmentDevice().

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 361 of file phymarxbot.cpp.

Referenced by PhyMarXbot::setDrawFrontMarker().

SimulatedIRGroundSensorController* groundAroundIRSensorController ( )

inline

return the ground IR sensors on the base (just above the wheels)

Definition at line 121 of file phymarxbot.h.

SimulatedIRGroundSensorController* groundBottomIRSensorController ( )

inline

returns the ground IR sensors below the battery pack

Definition at line 117 of file phymarxbot.h.

bool isKinematic ( ) const

inline

Returns true if we are using the kinematic model.

Definition at line 246 of file phymarxbot.h.

QList< QColor > ledColors ( ) const

Returns the color of the leds on the attachring.

Returns: the color of leds on the attachring

Definition at line 482 of file phymarxbot.cpp.

References WObject::color().

void postUpdate ( )

virtual

postUpdate the robot this method is called at each step of the world just after the physic update.

It updates sensors

Reimplemented from WObject.

Definition at line 308 of file phymarxbot.cpp.

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

void preUpdate ( )

virtual

preUpdate the robot this method is called at each step of the world just before the physic update.

It updates motors

Reimplemented from WObject.

Definition at line 288 of file phymarxbot.cpp.

References MotorController::isEnabled(), WObject::matrix(), WObject::setMatrix(), WheelMotorController::update(), MarXbotAttachmentDeviceMotorController::update(), and WObject::world().

SimulatedIRProximitySensorController* proximityIRSensorController ( )

inline

returns the proximity infrared sensors

Definition at line 113 of file phymarxbot.h.

void resetAttachmentDevice ( )

Resets the attachment device.

This function completely resets the device: the status is set to open (possibly detaching an attached robot), the position to 0 and all robots attached to us are detached

Definition at line 398 of file phymarxbot.cpp.

References PhyMarXbot::attachmentDeviceEnabled(), and PhyMarXbot::enableAttachmentDevice().

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

Returns the colors of segments of the attachring.

This is a low-level function that returns the color of segments on the attachring modelling the led colors

Returns: the colors of segments of the attachring

Definition at line 495 of file phymarxbot.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 340 of file phymarxbot.cpp.

References GraphicalWObject::attachToObject(), PhyMarXbot::getDrawFrontMarker(), wMatrix::roll(), WObject::setColor(), WObject::setTexture(), WObject::setUseColorTextureOfOwner(), and WObject::world().

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

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

Definition at line 335 of file phymarxbot.cpp.

References SimulatedIRGroundSensorController::setGraphicalProperties().

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

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

Definition at line 330 of file phymarxbot.cpp.

References SimulatedIRGroundSensorController::setGraphicalProperties().

void setLedColors ( QList< QColor > c )

Sets the color of the leds on the attachring of the MarXbot.

This function takes a list of exactly 12 colors for the leds on the attachring. 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 12 elements, otherwise colors are not changed

Definition at line 461 of file phymarxbot.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 505 of file phymarxbot.cpp.

Referenced by PhyMarXbot::PhyMarXbot().

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

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

Definition at line 325 of file phymarxbot.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 510 of file phymarxbot.cpp.

Referenced by PhyMarXbot::PhyMarXbot().

TractionSensorController* tractionSensorController ( )

inline

return traction sensor of the robot

Definition at line 125 of file phymarxbot.h.

PhyObject* turret ( )

inline

Returns the solid modelling the turret of the robot.

Returns: the solid modelling the turret of the robot

Definition at line 209 of file phymarxbot.h.

Referenced by MarXbotAttachmentDeviceMotorController::update().

WheelMotorController* wheelsController ( )

inline

returns the motor controller for the wheels

Definition at line 105 of file phymarxbot.h.

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

worldsim/include/phymarxbot.h
worldsim/src/phymarxbot.cpp

WorldSim - 1.4.5

Public Member Functions

Static Public Attributes

Protected Slots

Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation