#include <cens_serialized_engine.h>

Inheritance diagram for cens::CENSSerializedRobot:

Collaboration diagram for cens::CENSSerializedRobot:

Public Types
typedef std::map< std::string, CENSHingeData >	Hinges

typedef std::map< std::string, btTypedConstraint * >	GenericConstraints

typedef std::map< std::string, btRigidBody * >	Bodies

typedef std::map< std::string, btTransform >	Transforms

Public Types inherited from CENSParameterManager
typedef std::map< std::string, std::string * >	strvalues

typedef strvalues::iterator	striter

typedef std::map< std::string, Vector4f * >	v4values

typedef v4values::iterator	v4iter

typedef std::map< std::string, Vector3f * >	v3values

typedef v3values::iterator	v3iter

typedef std::map< std::string, double * >	dvalues

typedef dvalues::iterator	diter

typedef std::map< std::string, float * >	fvalues

typedef fvalues::iterator	fiter

typedef std::map< std::string, int * >	ivalues

typedef ivalues::iterator	iiter

typedef std::map< int, std::string >	labels

typedef labels::iterator	liter

Public Member Functions
	CENSSerializedRobot (const std::string robotName, CENSEngine *en)

	~CENSSerializedRobot ()

void	addHinge (std::string hingeName, CENSHingeConstraint *_hinge)

void	addGenericConstraint (std::string constraintName, btTypedConstraint *_constraint)

void	addBody (std::string bodyName, btRigidBody *_body)

void	addTransform (std::string transformName, btTransform _transform)

bool	init ()

void	disableBodies ()

void	enableBodies ()

void	update ()

void	move (const std::string hingeName, double target_angle, double impulse=0)

Public Member Functions inherited from CENSParameterManager
	CENSParameterManager (std::string _filename, const char sep="-------", const char vsep=";", const char *filedir="parameters/")

	CENSParameterManager (const CENSParameterManager &copy)

void	addParameter (std::string parname, std::string &par)

void	addParameter (std::string parname, Vector4f &par)

void	addParameter (std::string parname, Vector3f &par)

void	addParameter (std::string parname, double &par)

void	addParameter (std::string parname, float &par)

void	addParameter (std::string parname, int &par)

bool	loadParameters ()

void	saveParameters ()

Public Attributes
std::string	robotName

Hinges	hinges

GenericConstraints	constraints

Bodies	bodies

Transforms	transforms

CENSEngine *	engine

Additional Inherited Members
Protected Attributes inherited from CENSParameterManager
std::string	filename

const char *	separator

const char *	vseparator

strvalues	strparlist

v4values	v4parlist

v3values	v3parlist

dvalues	dparlist

fvalues	fparlist

ivalues	iparlist

labels	order

int	added

Detailed Description

Data structure to import and maintain a group of serialized hinges

Definition at line 159 of file cens_serialized_engine.h.

Member Typedef Documentation

typedef std::map<std::string, btRigidBody *> cens::CENSSerializedRobot::Bodies

Definition at line 163 of file cens_serialized_engine.h.

typedef std::map<std::string, btTypedConstraint *> cens::CENSSerializedRobot::GenericConstraints

Definition at line 162 of file cens_serialized_engine.h.

typedef std::map<std::string, CENSHingeData> cens::CENSSerializedRobot::Hinges

Definition at line 161 of file cens_serialized_engine.h.

typedef std::map<std::string, btTransform> cens::CENSSerializedRobot::Transforms

Definition at line 164 of file cens_serialized_engine.h.

Constructor & Destructor Documentation

cens::CENSSerializedRobot::CENSSerializedRobot	(	const std::string	robotName,
		CENSEngine *	en
	)

inline

Parameters

robotName	the name of the gorup of hinges
en	the engine that uses it

Definition at line 190 of file cens_serialized_engine.h.

cens::CENSSerializedRobot::~CENSSerializedRobot ( )

inline

Definition at line 196 of file cens_serialized_engine.h.

Member Function Documentation

void cens::CENSSerializedRobot::addBody	(	std::string	bodyName,
		btRigidBody *	_body
	)

Adds a body to the group

Parameters

bodyName	the name of the body
_body	pointer to the body

Definition at line 89 of file cens_serialized_engine.cpp.

References bodies.

Referenced by cens::CENSSerializedEngine::loadBulletFile().

void cens::CENSSerializedRobot::addGenericConstraint	(	std::string	constraintName,
		btTypedConstraint *	_constraint
	)

Adds a non-hinge constraint to the group

Parameters

constraintName	the name of the constraint
_constraint	pointer to the constraint

Definition at line 81 of file cens_serialized_engine.cpp.

References constraints.

Referenced by cens::CENSSerializedEngine::loadBulletFile().

void cens::CENSSerializedRobot::addHinge	(	std::string	hingeName,
		CENSHingeConstraint *	_hinge
	)

Adds an hinge to the group

Parameters

hingeName	the name of the hinge
_hinge	the hinge struct

Definition at line 34 of file cens_serialized_engine.cpp.

References CENSParameterManager::addParameter(), and hinges.

Referenced by cens::CENSSerializedEngine::loadBulletFile().

void cens::CENSSerializedRobot::addTransform	(	std::string	transformName,
		btTransform	_transform
	)

Adds a transform to the group

Parameters

transformName	the name of the body
_transform	position and rotation of the body

Definition at line 96 of file cens_serialized_engine.cpp.

References transforms.

Referenced by cens::CENSSerializedEngine::loadBulletFile().

void cens::CENSSerializedRobot::disableBodies ( )

Definition at line 141 of file cens_serialized_engine.cpp.

References bodies, hinges, move(), and transforms.

void cens::CENSSerializedRobot::enableBodies ( )

Definition at line 162 of file cens_serialized_engine.cpp.

References bodies, cens::eigen2btVec(), engine, and cens::CENSPhysics::getGravity().

bool cens::CENSSerializedRobot::init ( )

initialize hinges starting from data in each struct

Definition at line 104 of file cens_serialized_engine.cpp.

References cens::CENSHingeData::enable_collision, cens::CENSHingeData::enabled, engine, cens::CENSHingeData::hinge, hinges, CENSParameterManager::loadParameters(), cens::CENSHingeData::lower_limit, cens::CENSHingeData::max_motor_impulse, CENSParameterManager::saveParameters(), cens::CENSPhysics::setCollisionFilter(), and cens::CENSHingeData::upper_limit.

Referenced by cens::CENSSerializedEngine::loadBulletFile().

void cens::CENSSerializedRobot::move	(	const std::string	hingeName,
		double	target_angle,
		double	impulse = `0`
	)

Move a hinge by changing its status (target_angle, inpulse)

Parameters

hingeName	the name of the hinge to move
target_angle	the new angle to be reached
impulse	the maximum impulse that can be acquired while changing angle. This changes hinge.max_motor_impulse in case of CENS_DEFAULT_CONTROL or hinge.kp in case of CENS_PD_CONTROL
prop	the proportion between hinge.kp and hinge.kd (only for CENS_PD_CONTROL).

Definition at line 221 of file cens_serialized_engine.cpp.

References cens::CENS_DEFAULT_CONTROL, cens::CENS_PD_CONTROL, and hinges.

Referenced by disableBodies().

void cens::CENSSerializedRobot::update ( )

update hinges' status

Definition at line 175 of file cens_serialized_engine.cpp.