The class modelling the e-puck robot. More...

Inheritance diagram for Epuck:

Public Member Functions
	Epuck (ConfigurationParameters &params, QString prefix)
	Constructor.

virtual	~Epuck ()
	Destructor.

virtual bool	isKinematic () const
	Returns true if the robot is in kinematic mode.

virtual real	orientation (const Box2DWrapper *plane) const
	Returns the orientation of the robot.

virtual wVector	position () const
	Returns the position of the robot.

virtual real	robotHeight () const
	Returns the height of the robot.

virtual real	robotRadius () const
	Returns the radius of the robot.

virtual void	save (ConfigurationParameters &params, QString prefix)
	Saves the actual status of parameters into the ConfigurationParameters object passed.

virtual void	setOrientation (const Box2DWrapper *plane, real angle)
	Sets the orientation of the robot.

virtual void	setPosition (const Box2DWrapper *plane, real x, real y)
	Sets the position of the robot in the plane.

Public Member Functions inherited from RobotOnPlane
	RobotOnPlane (ConfigurationParameters &params, QString prefix)
	Constructor.

virtual	~RobotOnPlane ()
	Destructor.

void	setPosition (const Box2DWrapper *plane, const wVector &pos)
	Sets the position of the robot in the plane.

Public Member Functions inherited from Robot
	Robot (ConfigurationParameters &params, QString prefix)
	Constructor.

virtual	~Robot ()
	Destructor.

Public Member Functions inherited from ParameterSettableInConstructor
	ParameterSettableInConstructor (ConfigurationParameters &, QString)

void	addObserver (RuntimeParameterObserver *obs)

T	getRuntimeParameter (QString paramName)

virtual ParameterSettableUI *	getUIManager ()

	ParameterSettable ()

virtual void	postConfigureInitialization ()

void	removeObserver (RuntimeParameterObserver *obs)

void	setRuntimeParameter (QString paramName, T newvalue)

QString	typeName () const

Public Member Functions inherited from ParameterSettable
void	addObserver (RuntimeParameterObserver *obs)

T	getRuntimeParameter (QString paramName)

void	removeObserver (RuntimeParameterObserver *obs)

void	setRuntimeParameter (QString paramName, T newvalue)

QString	typeName () const

Public Member Functions inherited from PhyEpuck
	PhyEpuck (World *world, QString name, const wMatrix &transformation=wMatrix::identity())

QColor	color () const

void	doKinematicSimulation (bool k)

bool	getDrawFrontMarker () const

IRSensorController *	groundIRSensorController ()

bool	isInvisible ()

bool	isKinematic () const

const wMatrix &	matrix () const

QString	name () const

	Ownable ()

const QList< Owned > &	owned () const

Ownable *	owner () const

virtual void	postUpdate ()

virtual void	preUpdate ()

IRSensorController *	proximityIRSensorController ()

void	setAlpha (int alpha)

void	setColor (QColor c)

void	setDrawFrontMarker (bool drawMarker)

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

void	setInvisible (bool b)

void	setMatrix (const wMatrix &newm)

void	setOwner (Ownable *owner, bool destroy=true)

void	setPosition (real x, real y, real z)

void	setPosition (const wVector &newpos)

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

void	setTexture (QString textureName)

void	setUseColorTextureOfOwner (bool b)

QString	texture () const

bool	useColorTextureOfOwner () const

WheelMotorController *	wheelsController ()

	WObject (World *world, QString name="unamed", const wMatrix &tm=wMatrix::identity(), bool addToWorld=true)

World *	world ()

const World *	world () const

Public Member Functions inherited from WObject
	WObject (World *world, QString name="unamed", const wMatrix &tm=wMatrix::identity(), bool addToWorld=true)

QColor	color () const

bool	isInvisible ()

const wMatrix &	matrix () const

QString	name () const

	Ownable ()

const QList< Owned > &	owned () const

Ownable *	owner () const

void	setAlpha (int alpha)

void	setColor (QColor c)

void	setInvisible (bool b)

void	setMatrix (const wMatrix &newm)

void	setOwner (Ownable *owner, bool destroy=true)

void	setPosition (const wVector &newpos)

void	setPosition (real x, real y, real z)

void	setTexture (QString textureName)

void	setUseColorTextureOfOwner (bool b)

QString	texture () const

bool	useColorTextureOfOwner () const

World *	world ()

const World *	world () const

Public Member Functions inherited from Ownable
const QList< Owned > &	owned () const

Ownable *	owner () const

void	setOwner (Ownable *owner, bool destroy=true)

Static Public Member Functions
static void	describe (QString type)
	Add to Factory::typeDescriptions() the descriptions of all parameters and subgroups.

Static Public Member Functions inherited from RobotOnPlane
static void	describe (QString type)
	Add to Factory::typeDescriptions() the descriptions of all parameters and subgroups.

Additional Inherited Members
Public Types inherited from ParameterSettableInConstructor
enum	Property

Public Types inherited from PhyEpuck
typedef QList< Owned >	OwnedList

Public Attributes inherited from ParameterSettableInConstructor
	AllowMultiple

	Default

	IsList

	IsMandatory

Static Public Attributes inherited from ParameterSettableInConstructor
static const double	Infinity

static const int	MaxInteger

static const int	MinInteger

Static Public Attributes inherited from PhyEpuck
static const real	axletrack

static const real	batterym

static const real	batteryplacedistancefromground

static const real	batteryplacex

static const real	batteryplacey

static const real	batteryplacez

static const real	bodyh

static const real	bodyr

static const real	passivewheelm

static const real	passivewheelr

static const real	wheelh

static const real	wheelm

static const real	wheelr

static const real	wholebodym

Protected Slots inherited from PhyEpuck
void	setLeftWheelDesideredVelocity (real velocity)

void	setRightWheelDesideredVelocity (real velocity)

Protected Member Functions inherited from RobotOnPlane
const QColor &	robotColor () const
	Returns the robot color specified by the configuration parameter.

Protected Member Functions inherited from PhyEpuck
virtual void	changedMatrix ()

Static Protected Member Functions inherited from ParameterSettableInConstructor
static Descriptor	addTypeDescription (QString type, QString shortHelp, QString longHelp=QString(""))

static void	setGraphicalEditor (QString type)

Protected Attributes inherited from PhyEpuck
QColor	colorv

bool	invisible

QString	namev

QString	texturev

wMatrix	tm

bool	usecolortextureofowner

World *	worldv

Detailed Description

The class modelling the e-puck robot.

This inherits from PhyEpuck, so you can use all its methods

Definition at line 396 of file robots.h.

Constructor & Destructor Documentation

Epuck	(	ConfigurationParameters &	params,
		QString	prefix
	)

Constructor.

Parameters

params	the configuration parameters object with parameters to use
prefix	the prefix to use to access the object configuration parameters. This is guaranteed to end with the separator character when called by the factory, so you don't need to add one

Definition at line 584 of file robots.cpp.

References PhyEpuck::doKinematicSimulation(), ConfigurationHelper::getBool(), PhyEpuck::groundIRSensorController(), PhyEpuck::proximityIRSensorController(), RobotOnPlane::robotColor(), PhyEpuck::setColor(), WheelMotorController::setEnabled(), IRSensorController::setEnabled(), PhyEpuck::setGroundIRSensorsGraphicalProperties(), PhyEpuck::setProximityIRSensorsGraphicalProperties(), and PhyEpuck::wheelsController().

~Epuck ( )

virtual

Destructor.

Definition at line 640 of file robots.cpp.

Member Function Documentation

void describe ( QString type )

static

Add to Factory::typeDescriptions() the descriptions of all parameters and subgroups.

Parameters

type is the name of the type regarding the description. The type is used when a subclass reuse the description of its parent calling the parent describe method passing the type of the subclass. In this way, the result of the method describe of the parent will be the addition of the description of the parameters of the parent class into the type of the subclass

Definition at line 613 of file robots.cpp.

References ParameterSettableInConstructor::addTypeDescription(), ParameterSettable::BoolDescriptor::def(), ParameterSettable::StringDescriptor::def(), RobotOnPlane::describe(), ParameterSettable::Descriptor::describeBool(), ParameterSettable::Descriptor::describeString(), ParameterSettable::BoolDescriptor::help(), and ParameterSettable::StringDescriptor::help().

bool isKinematic ( ) const

virtual

Returns true if the robot is in kinematic mode.

Returns: true if the robot is in kinematic mode

Implements RobotOnPlane.

Definition at line 681 of file robots.cpp.

References PhyEpuck::isKinematic().

real orientation ( const Box2DWrapper * plane ) const

virtual

Returns the orientation of the robot.

This returns the angle around the z axis of the "plane". An angle of 0 means that the X axis of the plane and of the robot are coincident (positive angles follow the right-hand rule). This function returns the angle in radiants

Parameters

plane the plane on which the robot is placed. You can use the plane returned by Arena::getPlane(), here.

Implements RobotOnPlane.

Definition at line 665 of file robots.cpp.

References PhyBox::matrix(), PhyEpuck::matrix(), and Box2DWrapper::phyObject().

Referenced by EpuckSampledProximityIRSensor::update().

wVector position ( ) const

virtual

Returns the position of the robot.

Returns: the position of the robot

Implements RobotOnPlane.

Definition at line 650 of file robots.cpp.

References PhyEpuck::matrix(), and wMatrix::w_pos.

Referenced by EpuckSampledProximityIRSensor::update().

real robotHeight ( ) const

virtual

Returns the height of the robot.

This is the height of the cylinder containing the robot. In some cases wheeled robots are modelled as cylinders to simplify calculations

Returns: the height of the robot

Implements RobotOnPlane.

Definition at line 671 of file robots.cpp.

References PhyEpuck::batteryplacedistancefromground, PhyEpuck::batteryplacez, and PhyEpuck::bodyh.

real robotRadius ( ) const

virtual

Returns the radius of the robot.

This is the radius of the cylinder containing the robot. In some cases wheeled robots are modelled as cylinders to simplify calculations

Returns: the radius of the robot

Implements RobotOnPlane.

Definition at line 676 of file robots.cpp.

References PhyEpuck::bodyr.

void save	(	ConfigurationParameters &	params,
		QString	prefix
	)

virtual

Saves the actual status of parameters into the ConfigurationParameters object passed.

This is not implemented, calling this causes an abort

Parameters

params	the configuration parameters object on which save actual parameters
prefix	the prefix to use to access the object configuration parameters.

Reimplemented from RobotOnPlane.

Definition at line 608 of file robots.cpp.

References Logger::error().

void setOrientation	(	const Box2DWrapper *	plane,
		real	angle
	)

virtual

Sets the orientation of the robot.

This modifies the angle around the z axis of the "plane". An angle of 0 means that the X axis of the plane and of the robot are coincident (positive angles follow the right-hand rule). This function wants the angle in radiants

Parameters

plane	the plane on which the robot is placed. You can use the plane returned by Arena::getPlane(), here.
angle	the new orientation in radiants

Implements RobotOnPlane.

Definition at line 655 of file robots.cpp.

References PhyEpuck::matrix(), and PhyEpuck::setMatrix().

void setPosition	(	const Box2DWrapper *	plane,
		real	x,
		real	y
	)

virtual

Sets the position of the robot in the plane.

The robot is placed on the face of the "plane" parallel to the local XY plane and with positive z coordinate.

Parameters

plane	the plane on which the robot should be placed. You can use the plane returned by Arena::getPlane(), here.
x	the new x coordinate
y	the new y coordinate

Implements RobotOnPlane.

Definition at line 644 of file robots.cpp.

References PhyEpuck::setPosition().

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

experiments/include/robots.h
experiments/src/robots.cpp

Experiments - 1.2.3

Public Member Functions

Static Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation