Khepera Class Reference

The class modelling the Khepera robot. More...

Inheritance diagram for Khepera:

Public Member Functions
	Khepera (ConfigurationParameters &params, QString prefix)
	Constructor.
virtual	~Khepera ()
	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 QColor	robotColor () const
	Returns the color 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 PhyKhepera
	PhyKhepera (World *world, QString name, const wMatrix &transformation=wMatrix::identity())
QColor	color () const
void	doKinematicSimulation (bool k)
void	drawLocalAxes (bool d)
bool	getDrawFrontMarker () const
bool	isInvisible () const
const QString &	label () const
const QColor &	labelColor () const
const wVector &	labelPosition () const
bool	labelShown () const
bool	localAxesDrawn () const
const wMatrix &	matrix () const
QString	name () const
	Ownable ()
const QList< Owned > &	owned () const
Ownable *	owner () const
virtual void	postUpdate ()
virtual void	preUpdate ()
SimulatedIRProximitySensorController *	proximityIRSensorController ()
void	setAlpha (int alpha)
void	setColor (QColor c)
void	setDrawFrontMarker (bool drawMarker)
void	setInvisible (bool b)
void	setLabel (QString label, wVector pos, QColor color)
void	setLabel (QString label)
void	setLabel (QString label, wVector pos)
void	setLabelColor (const QColor &color)
void	setLabelPosition (const wVector &pos)
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)
void	showLabel (bool show)
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

Static Public Member Functions
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 PhyKhepera
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 PhyKhepera
static const real	axletrack
static const real	bodydistancefromground
static const real	bodyh
static const real	bodym
static const real	bodyr
static const real	passivewheelm
static const real	passivewheelr
static const real	wheelh
static const real	wheelm
static const real	wheelr
Protected Slots inherited from PhyKhepera
void	setLeftWheelDesideredVelocity (real velocity)
void	setRightWheelDesideredVelocity (real velocity)
Protected Member Functions inherited from RobotOnPlane
const QColor &	configuredRobotColor () const
	Returns the robot color specified by the configuration parameter.
Protected Member Functions inherited from PhyKhepera
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 PhyKhepera
QColor	colorv
bool	invisible
QColor	labelcol
bool	labeldrawn
wVector	labelpos
QString	labelv
bool	localFrameOfReferenceDrawn
QString	namev
QString	texturev
wMatrix	tm
bool	usecolortextureofowner
World *	worldv

Detailed Description

The class modelling the Khepera robot.

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

Definition at line 517 of file robots.h.

Constructor & Destructor Documentation

Khepera	(	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 364 of file robots.cpp.

References RobotOnPlane::configuredRobotColor(), PhyKhepera::doKinematicSimulation(), farsa::robotConfigurationUtilities::extractRobotName(), farsa::robotConfigurationUtilities::extractRobotTranformation(), farsa::robotConfigurationUtilities::extractWorld(), ConfigurationHelper::getBool(), PhyKhepera::proximityIRSensorController(), PhyKhepera::setColor(), PhyKhepera::setDrawFrontMarker(), SimulatedIRProximitySensorController::setEnabled(), WheelMotorController::setEnabled(), PhyKhepera::setProximityIRSensorsGraphicalProperties(), and PhyKhepera::wheelsController().

~Khepera ( )

virtual

Destructor.

Definition at line 414 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

Reimplemented from RobotOnPlane.

Definition at line 391 of file robots.cpp.

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

bool isKinematic ( ) const

virtual

Returns true if the robot is in kinematic mode.

Returns

true if the robot is in kinematic mode

Reimplemented from PhyKhepera.

Definition at line 455 of file robots.cpp.

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 439 of file robots.cpp.

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

wVector position ( ) const

virtual

Returns the position of the robot.

Returns

the position of the robot

Implements RobotOnPlane.

Definition at line 424 of file robots.cpp.

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

Referenced by KheperaGroundSensor::update().

QColor robotColor ( ) const

virtual

Returns the color of the robot.

Returns

the color of the robot

Implements RobotOnPlane.

Definition at line 460 of file robots.cpp.

References PhyKhepera::color().

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 445 of file robots.cpp.

References PhyKhepera::bodydistancefromground, and PhyKhepera::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 450 of file robots.cpp.

References PhyKhepera::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 386 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 429 of file robots.cpp.

References PhyKhepera::matrix(), and PhyKhepera::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 418 of file robots.cpp.

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

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