PhyMarXbot Class Reference

MarXbot class The marXbot represent an marXbot robot. More...

Inheritance diagram for PhyMarXbot:

List of all members.

Public Member Functions
	PhyMarXbot (World *world, QString name, const wMatrix &tm=wMatrix::identity())
	Create a MarXbot.
virtual	~PhyMarXbot ()
	Destroy the MarXbot.
IRSensorController *	groundAroundIRSensorController ()
	return the ground IR sensors on the base (just above the wheels)
IRSensorController *	groundBottomIRSensorController ()
	returns the ground IR sensors below the battery pack
virtual void	postUpdate ()
	postUpdate the robot this method is called at each step of the world just after the physic update
virtual void	preUpdate ()
	preUpdate the robot this method is called at each step of the world just before the physic update
IRSensorController *	proximityIRSensorController ()
	returns the proximity infrared sensors
void	setGroundAroundIRSensorsGraphicalProperties (bool drawSensor, bool drawRay=false, bool drawRealRay=false)
	Sets whether ground around IR sensors are drawn or not and how.
void	setGroundBottomIRSensorsGraphicalProperties (bool drawSensor, bool drawRay=false, bool drawRealRay=false)
	Sets whether ground bottom IR sensors are drawn or not and how.
void	setProximityIRSensorsGraphicalProperties (bool drawSensor, bool drawRay=false, bool drawRealRay=false)
	Sets whether proximity IR sensors are drawn or not and how.
WheelMotorController *	wheelsController ()
	returns the motor controller for the wheels
Protected Member Functions
virtual void	changedMatrix ()
	update the matrix of all sub-objects

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Detailed Description

MarXbot class The marXbot represent an marXbot robot.

See http://mobots.epfl.ch/marxbot.html

Definition at line 44 of file phymarxbot.h.

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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 35 of file phymarxbot.cpp.

References MaterialDB::createMaterial(), PhyJoint::dofs(), wMatrix::identity(), World::materials(), WObject::matrix(), wMatrix::pitch(), wMatrix::roll(), PhyObject::setMass(), WObject::setMatrix(), Ownable::setOwner(), MaterialDB::setProperties(), WheelMotorController::setSpeedLimits(), WObject::setUseColorTextureOfOwner(), WObject::tm, farsa::toRad(), PhyJoint::updateJointInfo(), WObject::world(), and wMatrix::yaw().

~PhyMarXbot

(

)

[virtual]

Destroy the MarXbot.

Definition at line 291 of file phymarxbot.cpp.

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Member Function Documentation

void changedMatrix

(

)

[protected, virtual]

update the matrix of all sub-objects

Reimplemented from WObject.

Definition at line 342 of file phymarxbot.cpp.

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

IRSensorController* groundAroundIRSensorController

(

)

[inline]

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

Definition at line 67 of file phymarxbot.h.

IRSensorController* groundBottomIRSensorController

(

)

[inline]

returns the ground IR sensors below the battery pack

Definition at line 63 of file phymarxbot.h.

void postUpdate

(

)

[virtual]

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

Reimplemented from WObject.

Definition at line 313 of file phymarxbot.cpp.

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

void preUpdate

(

)

[virtual]

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

Reimplemented from WObject.

Definition at line 305 of file phymarxbot.cpp.

References MotorController::isEnabled(), and WheelMotorController::update().

IRSensorController* proximityIRSensorController

(

)

[inline]

returns the proximity infrared sensors

Definition at line 59 of file phymarxbot.h.

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 337 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 332 of file phymarxbot.cpp.

References SimulatedIRGroundSensorController::setGraphicalProperties().

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

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

Definition at line 327 of file phymarxbot.cpp.

References SimulatedIRProximitySensorController::setGraphicalProperties().

WheelMotorController* wheelsController

(

)

[inline]

returns the motor controller for the wheels

Definition at line 55 of file phymarxbot.h.

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

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