The MarXbot robot. More...
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() |
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) |
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().
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virtual |
Destroy the MarXbot.
Definition at line 266 of file phymarxbot.cpp.
Member Function Documentation
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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().
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inline |
returns the motor controller for the attachment device
Definition at line 109 of file phymarxbot.h.
Referenced by MarXbotAttachmentDeviceMotorController::update().
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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().
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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().
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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.
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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().
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inline |
return the ground IR sensors on the base (just above the wheels)
Definition at line 121 of file phymarxbot.h.
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inline |
returns the ground IR sensors below the battery pack
Definition at line 117 of file phymarxbot.h.
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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().
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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().
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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().
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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 |
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) |
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 |
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) |
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().
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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().
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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().
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inline |
return traction sensor of the robot
Definition at line 125 of file phymarxbot.h.
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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().
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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