WheelMotorController Class Reference

Dedicated controller for wheeled robots. More...

Inheritance diagram for WheelMotorController:

Public Member Functions
	WheelMotorController (QVector< PhyDOF * > wheels, World *world)
	Constructor.
virtual	~WheelMotorController ()
	Destructor.
void	getSpeedLimits (QVector< double > &minSpeeds, QVector< double > &maxSpeeds)
	gets the minimum and maximum velocities for each wheel
void	getSpeedLimits (double &minSpeed1, double &minSpeed2, double &maxSpeed1, double &maxSpeed2)
	utility method to get the minimum and maximum velocities of the first two wheels
void	getSpeeds (QVector< double > &speeds)
	gets the current speed of the wheels
void	getSpeeds (double &sp1, double &sp2)
	utility method to get the current speed to the first two wheels
void	setSpeedLimits (QVector< double > minSpeeds, QVector< double > maxSpeeds)
	sets the minimum and maximum velocities for each wheel
void	setSpeedLimits (double minSpeed1, double minSpeed2, double maxSpeed1, double maxSpeed2)
	utility method to set the minimum and maximum velocities of the first two wheels
void	setSpeeds (QVector< double > speeds)
	sets the desired speed for the wheels
void	setSpeeds (double sp1, double sp2)
	utility method for setting speeds to the first two wheels
virtual void	update ()
	apply the velocities on the wheels
QVector< PhyDOF * > &	wheels ()
	return the wheels controlled
Public Member Functions inherited from MotorController
	MotorController (World *world)
	constructor
virtual	~MotorController ()
	Destructor.
bool	isEnabled ()
	return true is if enable (hence if it is on)
void	setEnabled (bool b)
	Enable/Disable this motorcontroller.
World *	world ()
	return the world
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.

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

Detailed Description

Dedicated controller for wheeled robots.

Definition at line 391 of file motorcontrollers.h.

Constructor & Destructor Documentation

WheelMotorController	(	QVector< PhyDOF * >	wheels,
		World *	world
	)

Constructor.

Parameters

dofs	vector of wheels actuated by this controller

Definition at line 860 of file motorcontrollers.cpp.

~WheelMotorController ( )

virtual

Destructor.

Definition at line 868 of file motorcontrollers.cpp.

Member Function Documentation

void getSpeedLimits	(	QVector< double > &	minSpeeds,
		QVector< double > &	maxSpeeds
	)

gets the minimum and maximum velocities for each wheel

Note

speed is expressed in rad/sec

Definition at line 932 of file motorcontrollers.cpp.

void getSpeedLimits	(	double &	minSpeed1,
		double &	minSpeed2,
		double &	maxSpeed1,
		double &	maxSpeed2
	)

utility method to get the minimum and maximum velocities of the first two wheels

Note

speed is expressed in rad/sec

Definition at line 937 of file motorcontrollers.cpp.

void getSpeeds

(

QVector< double > &

speeds

)

gets the current speed of the wheels

Note

speed is expressed in rad/sec

Definition at line 908 of file motorcontrollers.cpp.

void getSpeeds	(	double &	sp1,
		double &	sp2
	)

utility method to get the current speed to the first two wheels

Note

speed is expressed in rad/sec

Definition at line 915 of file motorcontrollers.cpp.

void setSpeedLimits	(	QVector< double >	minSpeeds,
		QVector< double >	maxSpeeds
	)

sets the minimum and maximum velocities for each wheel

Note

speed is expressed in rad/sec

Definition at line 920 of file motorcontrollers.cpp.

Referenced by PhyEpuck::PhyEpuck(), PhyKhepera::PhyKhepera(), and PhyMarXbot::PhyMarXbot().

void setSpeedLimits	(	double	minSpeed1,
		double	minSpeed2,
		double	maxSpeed1,
		double	maxSpeed2
	)

utility method to set the minimum and maximum velocities of the first two wheels

Note

speed is expressed in rad/sec

Definition at line 925 of file motorcontrollers.cpp.

void setSpeeds

(

QVector< double >

speeds

)

sets the desired speed for the wheels

Note

speed is expressed in rad/sec

Definition at line 878 of file motorcontrollers.cpp.

void setSpeeds	(	double	sp1,
		double	sp2
	)

utility method for setting speeds to the first two wheels

Note

speed is expressed in rad/sec

Definition at line 890 of file motorcontrollers.cpp.

void update ( )

virtual

apply the velocities on the wheels

Implements MotorController.

Definition at line 872 of file motorcontrollers.cpp.

Referenced by PhyMarXbot::preUpdate(), PhyKhepera::preUpdate(), and PhyEpuck::preUpdate().

QVector<PhyDOF*>& wheels ( )

inline

return the wheels controlled

Definition at line 400 of file motorcontrollers.h.

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

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