The class modelling a kephera II robot. More...
Static Public Attributes | |
| static const real | axletrack = 0.055f |
| The distance between the two motorized wheels. | |
| static const real | bodydistancefromground = 0.0015f |
| The distance of the body from the ground. | |
| static const real | bodyh = 0.030f |
| The height of the body of the robot. | |
| static const real | bodym = 0.066f |
| The mass of the robot without the wheels. | |
| static const real | bodyr = 0.035f |
| The radius of the body of the robot. | |
| static const real | passivewheelm = 0.002f |
| The mass of the passive wheels. | |
| static const real | passivewheelr = 0.003f |
| The radius of the passive wheels. | |
| static const real | wheelh = 0.003f |
| The height of the motorized wheels. | |
| static const real | wheelm = 0.005f |
| The mass of one motorized wheel. | |
| static const real | wheelr = 0.015f |
| The radius of the motorized wheels. | |
Additional Inherited Members | |
 Public Types inherited from Ownable | |
| typedef QList< Owned > | OwnedList |
| The type for the list of owned objects. | |
| 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 | |
| virtual | ~WObject () |
| destroy the Object and drop it from the world | |
| QColor | color () const |
| bool | isInvisible () |
| return if it is invisible | |
| const wMatrix & | matrix () const |
| return a reference to the transformation matrix | |
| QString | name () const |
| Return the name of this object. | |
| virtual void | postUpdate () |
| postUpdate the WObject this method is called at each step of the world just after the physic update | |
| virtual void | preUpdate () |
| preUpdate the WObject this method is called at each step of the world just before the physic update | |
| void | setAlpha (int alpha) |
| void | setColor (QColor c) |
| void | setInvisible (bool b) |
| set invisibility | |
| void | setMatrix (const wMatrix &newm) |
| set a new matrix | |
| void | setPosition (const wVector &newpos) |
| set the position specified in global coordinate frame | |
| void | setPosition (real x, real y, real z) |
| set the position specified in global coordinate frame | |
| void | setTexture (QString textureName) |
| Set the texture to use for this WObject when rendered. | |
| void | setUseColorTextureOfOwner (bool b) |
| set if the object will be rendered with the color and texture of our owner (if we have one) | |
| QString | texture () const |
| Return the texture name. | |
| bool | useColorTextureOfOwner () const |
| if true, we will use color and texture of our owner (if we have one) | |
| World * | world () |
| Return the world. | |
| const World * | world () const |
| Return the world (const version) | |
| Protected Member Functions inherited from WObject | |
| virtual void | changedMatrix () |
| virtual function called when the transformation matrix change | |
| Protected Attributes inherited from WObject | |
| QColor | colorv |
| Color, it contains also alpha channel. | |
| bool | invisible |
| if TRUE it will not renderized | |
| QString | namev |
| Name of the WObject. | |
| QString | texturev |
| Texture name. | |
| wMatrix | tm |
| Trasformation matrix. | |
| bool | usecolortextureofowner |
| if true, we will use color and texture of our owner (if we have one). | |
| World * | worldv |
| World. | |
Detailed Description
The class modelling a kephera II robot.
This class models a khepera II robot. For more information about the robot go to http://www.k-team.com/mobile-robotics-products/khepera-ii/introduction
Definition at line 44 of file phykhepera.h.
Member Data Documentation
|
static |
The distance between the two motorized wheels.
Definition at line 86 of file phykhepera.h.
|
static |
The distance of the body from the ground.
Definition at line 51 of file phykhepera.h.
|
static |
The height of the body of the robot.
Definition at line 61 of file phykhepera.h.
|
static |
The mass of the robot without the wheels.
Definition at line 66 of file phykhepera.h.
|
static |
The radius of the body of the robot.
Definition at line 56 of file phykhepera.h.
|
static |
The mass of the passive wheels.
The real robot has no passive wheels, here we need them to reduce the friction with the ground
Definition at line 102 of file phykhepera.h.
|
static |
The radius of the passive wheels.
The real robot has no passive wheels, here we need them to reduce the friction with the ground
Definition at line 94 of file phykhepera.h.
|
static |
The height of the motorized wheels.
Definition at line 76 of file phykhepera.h.
|
static |
The mass of one motorized wheel.
Definition at line 81 of file phykhepera.h.
|
static |
The radius of the motorized wheels.
Definition at line 71 of file phykhepera.h.
The documentation for this class was generated from the following files:
- worldsim/include/phykhepera.h
- worldsim/src/phykhepera.cpp