The class modelling a kephera II robot. More...

Inheritance diagram for PhyKhepera:

Public Member Functions
	PhyKhepera (World *world, QString name, const wMatrix &transformation=wMatrix::identity())
	Creates a khepera II robot.

virtual	~PhyKhepera ()
	Destructor.

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

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

virtual void	postUpdate ()
	Post-updates the robot.

virtual void	preUpdate ()
	Pre-updates the robot.

IRSensorController *	proximityIRSensorController ()
	Returns the proximity infrared sensors controller.

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.

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
	return the color of this object

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.

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

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

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)

Public Member Functions inherited from Ownable
	Ownable ()
	Constructor.

virtual	~Ownable ()
	Destructor.

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

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

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

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.

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

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

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

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

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.

Constructor & Destructor Documentation

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

Creates a khepera II 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 51 of file phykhepera.cpp.

References PhyKhepera::axletrack, PhyKhepera::bodydistancefromground, PhyKhepera::bodyh, PhyKhepera::bodym, PhyKhepera::bodyr, MaterialDB::createMaterial(), PhyJoint::dofs(), wMatrix::identity(), wMatrix::inverse(), World::materials(), WObject::matrix(), PhyKhepera::passivewheelm, PhyKhepera::passivewheelr, wMatrix::pitch(), WObject::setColor(), PhyKhepera::setLeftWheelDesideredVelocity(), PhyObject::setMass(), WObject::setMatrix(), Ownable::setOwner(), MaterialDB::setProperties(), PhyKhepera::setRightWheelDesideredVelocity(), WheelMotorController::setSpeedLimits(), WObject::tm, farsa::toRad(), wMatrix::untransformVector(), PhyJoint::updateJointInfo(), PhyKhepera::wheelh, PhyKhepera::wheelm, PhyKhepera::wheelr, wVectorT< false >::X(), wMatrix::yaw(), and wVectorT< false >::Z().

~PhyKhepera ( )

virtual

Destructor.

Definition at line 245 of file phykhepera.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 334 of file phykhepera.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 Kephera II model, if false to the dynamic one (at creation the model is always dynamic)

Definition at line 291 of file phykhepera.cpp.

References PhyObject::setKinematic().

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 182 of file phykhepera.h.

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 275 of file phykhepera.cpp.

References SensorController::isEnabled(), WObject::matrix(), WObject::tm, and SimulatedIRProximitySensorController::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 258 of file phykhepera.cpp.

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

IRSensorController* proximityIRSensorController ( )

inline

Returns the proximity infrared sensors controller.

Returns: the proximity infrared sensors controller

Definition at line 134 of file phykhepera.h.

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 324 of file phykhepera.cpp.

Referenced by PhyKhepera::PhyKhepera().

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 286 of file phykhepera.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 329 of file phykhepera.cpp.

Referenced by PhyKhepera::PhyKhepera().

WheelMotorController* wheelsController ( )

inline