The class modelling the motor for the attachment device of the MarXbot. More...

Inheritance diagram for MarXbotAttachmentDeviceMotorController:

Public Types
enum	Status { Open, HalfClosed, Closed }
	The possible status of the attachment device. See class description for more information. More...

Public Member Functions
	MarXbotAttachmentDeviceMotorController (PhyMarXbot *robot)
	Constructor.

virtual	~MarXbotAttachmentDeviceMotorController ()
	Destructor.

PhyMarXbot *	attachedRobot ()
	Returns the robot to which we are attached.

const PhyMarXbot *	attachedRobot () const
	Returns the robot to which we are attached (const version)

bool	attachedToRobot () const
	Returns true if we are attached to another robot.

bool	attachmentDeviceEnabled () const
	Returns true if the attachment device is enabled.

bool	attachmentPossible () const
	Returns true if this robot is near enough to another robot to attach to it.

double	getDesiredPosition () const
	Returns the desired position of the attachment device.

Status	getDesiredStatus () const
	Returns the desired status of the attachment device.

double	getDesiredVelocity () const
	Returns the desired velocity of the attachment device.

double	getMaxVelocity () const
	Returns the maximum speed at which the attachment device can move.

double	getPosition () const
	Returns the current position of the attachment device.

Status	getStatus () const
	Returns the current status of the attachment device.

double	getVelocity () const
	Returns the current velocity of the attachment device.

QVector< PhyMarXbot * >	otherAttachedRobots ()
	Returns the list of all robots that are attached to us.

bool	otherAttachedToUs () const
	Returns true if there are robots that are attached to us.

void	setDesiredPosition (double pos)
	Sets the desired position of the attachment device.

void	setDesiredStatus (Status status)
	Changes the status of the attachment device.

void	setDesiredVelocity (double vel)
	Sets the desired velocity of the attachment device.

void	setMaxVelocity (double speed)
	Sets the maximum speed at which the attachment device can move.

virtual void	update ()
	The method updating the attachment device at each timestep.

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.

Friends
class	PhyMarXbot
	The PhyMarXbot class is friend to call the attachmentDeviceAboutToBeDestroyed() function.

Detailed Description

The class modelling the motor for the attachment device of the MarXbot.

This class models the motors for the attachment device of the MarXbot. The device has two degrees of freedom: the orientation (i.e. where it is relative to the robot turret) and the status, that is whether the device is open, half-closed or closed. Regarding orientation, it is possible to control it by position or by velocity. In both cases the movement is never faster than a maximum speed (that can be changed). When the attachment device is open, it can be rotated using this motor. If it is half-closed or closed and the robot is actually attached to another robot, the motor controlling the rotation is disabled and the attachment device rotates freely. Moreover every command to the attachment device (e.g. setDesiredPosition, setDesiredVelocity...) is ignored. If instead the robot is not attached to another robot, the device behaves normally (as if the attachment device was open). Given two robots A and B, A attaches to B if the following requirements are satisfied:

the attachment device of A is in contact with the turret of B and the attachment device of B is far from the turret of A. In other words the two attachment devices must not be in contact;
the attachment device of A was in the open status in the previous timestep and is switched to half-closed or closed status in this timestep. The attachment is instantaneous (i.e. it happends in one timestep). The status of the device after the attachment determines how the two robots can move with respect to each other: if it is closed, B cannot rotate its attachment device (a fixed joint is added between the attachment device of A and the turret of B); if it is half-closed, B can rotate its attachment device with the limitation that it can collide with the attachment device of A and so a 360° rotation is not possible (a hinge is added between the attachment device of A and the turret of B). To detach, a robot simply has to change the status of its attachment device to open. This motor only works for dynamic robots. For the attachment process to be successful, both robots must be dynamical and have the attachment device enabled. If the robot attachment device is not enabled, changes to the device status are not applied

Definition at line 492 of file motorcontrollers.h.

Member Enumeration Documentation

enum Status

The possible status of the attachment device. See class description for more information.

Definition at line 499 of file motorcontrollers.h.

Constructor & Destructor Documentation

MarXbotAttachmentDeviceMotorController ( PhyMarXbot * robot )

Constructor.

Parameters

robot the robot whose attachment device we control (must not be NULL)

Definition at line 944 of file motorcontrollers.cpp.

~MarXbotAttachmentDeviceMotorController ( )

virtual

Destructor.

Definition at line 955 of file motorcontrollers.cpp.

Member Function Documentation

PhyMarXbot* attachedRobot ( )

inline

Returns the robot to which we are attached.

If we are not attached to any robot, this returns NULL

Returns: the robot to which we are attached or NULL if we are not attached to another robot

Definition at line 654 of file motorcontrollers.h.

const PhyMarXbot* attachedRobot ( ) const

inline

Returns the robot to which we are attached (const version)

If we are not attached to any robot, this returns NULL

Returns: the robot to which we are attached or NULL if we are not attached to another robot

Definition at line 666 of file motorcontrollers.h.

bool attachedToRobot ( ) const

inline

Returns true if we are attached to another robot.

Returns: true if we are attached to another robot

Definition at line 642 of file motorcontrollers.h.

Referenced by MarXbotAttachmentDeviceMotorController::setDesiredPosition(), and MarXbotAttachmentDeviceMotorController::setDesiredVelocity().

bool attachmentDeviceEnabled ( ) const

Returns true if the attachment device is enabled.

To enable/disable the attachment device you must use the PhyMarXbot methods

Returns: true if the attachment device is enabled, false otherwise

Definition at line 1044 of file motorcontrollers.cpp.

References PhyMarXbot::attachmentDeviceEnabled().

bool attachmentPossible ( ) const

inline

Returns true if this robot is near enough to another robot to attach to it.

This function only check whether this robot is near enough to another robot and the attachment device is in the right direction. It doesn't check if the status of the attachment device is the right one for attaching or not

Definition at line 632 of file motorcontrollers.h.

double getDesiredPosition ( ) const

Returns the desired position of the attachment device.

Returns: the desired position of the attachment device

Definition at line 1072 of file motorcontrollers.cpp.

References MarXbotAttachmentDeviceMotorController::attachmentDeviceEnabled(), PhyMarXbot::attachmentDeviceJoint(), and PhyJoint::dofs().

Status getDesiredStatus ( ) const

inline

Returns the desired status of the attachment device.

Returns: the desired status of the attachment device

Definition at line 608 of file motorcontrollers.h.

double getDesiredVelocity ( ) const

Returns the desired velocity of the attachment device.

Returns: the desired velocity of the attachment device

Definition at line 1097 of file motorcontrollers.cpp.

References MarXbotAttachmentDeviceMotorController::attachmentDeviceEnabled(), PhyMarXbot::attachmentDeviceJoint(), and PhyJoint::dofs().

double getMaxVelocity ( ) const

Returns the maximum speed at which the attachment device can move.

Returns: the maximum speed at which the attachment device can move (in rad/sec)

Definition at line 1056 of file motorcontrollers.cpp.

References MarXbotAttachmentDeviceMotorController::attachmentDeviceEnabled(), PhyMarXbot::attachmentDeviceJoint(), and PhyJoint::dofs().

double getPosition ( ) const

Returns the current position of the attachment device.

Returns: the current position of the attachment device (in radiants)

Definition at line 1081 of file motorcontrollers.cpp.

References MarXbotAttachmentDeviceMotorController::attachmentDeviceEnabled(), PhyMarXbot::attachmentDeviceJoint(), and PhyJoint::dofs().

Status getStatus ( ) const

inline

Returns the current status of the attachment device.

Returns: the current status of the attachment device

Definition at line 618 of file motorcontrollers.h.

double getVelocity ( ) const

Returns the current velocity of the attachment device.

Returns: the current velocity of the attachment device (in rad/sec)

Definition at line 1106 of file motorcontrollers.cpp.

References MarXbotAttachmentDeviceMotorController::attachmentDeviceEnabled(), PhyMarXbot::attachmentDeviceJoint(), and PhyJoint::dofs().

QVector<PhyMarXbot*> otherAttachedRobots ( )

inline

Returns the list of all robots that are attached to us.

This list doesn't contain the robot to which we are attached

Returns: the list of all robots that are attached to us

Definition at line 688 of file motorcontrollers.h.

bool otherAttachedToUs ( ) const

inline

Returns true if there are robots that are attached to us.

This does not include the robot to which we are attached

Returns: true if there are robots that are attached to us

Definition at line 677 of file motorcontrollers.h.

void setDesiredPosition ( double pos )

Sets the desired position of the attachment device.

Parameters

pos	the desired position of the attachment device (in radiants)

Definition at line 1065 of file motorcontrollers.cpp.

References MarXbotAttachmentDeviceMotorController::attachedToRobot(), MarXbotAttachmentDeviceMotorController::attachmentDeviceEnabled(), PhyMarXbot::attachmentDeviceJoint(), and PhyJoint::dofs().

void setDesiredStatus ( Status status )

Changes the status of the attachment device.

If the attachment device is already at the desired status, nothing happends

Parameters

status the desired status of the attachment device

Definition at line 1115 of file motorcontrollers.cpp.

References MarXbotAttachmentDeviceMotorController::attachmentDeviceEnabled().

void setDesiredVelocity ( double vel )

Sets the desired velocity of the attachment device.

Parameters

vel	the desidered velocity of the attachment device (in rad/sec)

Definition at line 1090 of file motorcontrollers.cpp.

References MarXbotAttachmentDeviceMotorController::attachedToRobot(), MarXbotAttachmentDeviceMotorController::attachmentDeviceEnabled(), PhyMarXbot::attachmentDeviceJoint(), and PhyJoint::dofs().

void setMaxVelocity ( double speed )

Sets the maximum speed at which the attachment device can move.

Parameters

speed the maximum speed at which the attachment device can move (in rad/sec)

Definition at line 1049 of file motorcontrollers.cpp.

References MarXbotAttachmentDeviceMotorController::attachmentDeviceEnabled(), PhyMarXbot::attachmentDeviceJoint(), and PhyJoint::dofs().

void update ( )

virtual

The method updating the attachment device at each timestep.

Implements MotorController.

Definition at line 961 of file motorcontrollers.cpp.

References PhyMarXbot::attachmentDevice(), PhyMarXbot::attachmentDeviceController(), PhyJoint::dofs(), and PhyMarXbot::turret().

Referenced by PhyMarXbot::preUpdate().

Friends And Related Function Documentation

friend class PhyMarXbot

friend

The PhyMarXbot class is friend to call the attachmentDeviceAboutToBeDestroyed() function.

Definition at line 752 of file motorcontrollers.h.

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

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

WorldSim - 1.2.3

Public Types

Public Member Functions

Friends

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation