A very simplified model of the Sbot mobile robot. More...
#include <Marxbot.h>
Inheritance diagram for Enki::Marxbot:
Public Member Functions | |
| Marxbot () | |
| Constructor. | |
| ~Marxbot () | |
| Destructor. | |
| double | getVirtualBumper (unsigned number) |
| Return the value of a virtual bumper. | |
 Public Member Functions inherited from Enki::DifferentialWheeled | |
| DifferentialWheeled (double distBetweenWheels, double maxSpeed, double noiseAmount) | |
| Constructor. | |
| void | resetEncoders () |
| Reset the encoder. Should be called when robot is moved manually. Odometry is cleared too. | |
| virtual void | controlStep (double dt) |
| Set the real speed of the robot given leftSpeed and rightSpeed. Add noise. Update encoders. | |
| virtual void | applyForces (double dt) |
| Consider that robot wheels have immobile contact points with ground, and override speeds. This kills three objects dynamics, but is good enough for the type of simulation Enki covers (and the correct solution is immensely more complex) | |
| Public Member Functions inherited from Enki::Robot | |
| void | addLocalInteraction (LocalInteraction *li) |
| Add a new local interaction, re-sort interaction vector from long ranged to short ranged. | |
| void | addGlobalInteraction (GlobalInteraction *gi) |
| Add a global interaction, just add it at the end of the vector. | |
| virtual void | initLocalInteractions (double dt, World *w) |
| Initialize the local interactions, call init on each one. | |
| virtual void | doLocalInteractions (double dt, World *w, PhysicalObject *po) |
| Do the local interactions with other objects, call objectStep on each one. | |
| virtual void | doLocalWallsInteraction (double dt, World *w) |
| Do the local interactions with walls, call wallsStep on each one. | |
| virtual void | finalizeLocalInteractions (double dt, World *w) |
| All the local interactions are finished, call finalize on each one. | |
| virtual void | doGlobalInteractions (double dt, World *w) |
| Do the global interactions, call step on each one. | |
| void | sortLocalInteractions (void) |
| Sort local interactions. Called by addLocalInteraction ; can be called by subclasses in case of interaction radius change. | |
| Public Member Functions inherited from Enki::PhysicalObject | |
| PhysicalObject () | |
| Constructor. | |
| virtual | ~PhysicalObject () |
| Destructor. | |
| double | getRadius () const |
| double | getHeight () const |
| bool | isCylindric () const |
| const Hull & | getHull () const |
| const Color & | getColor () const |
| double | getMass () const |
| double | getMomentOfInertia () const |
| double | getInterlacedDistance () const |
| void | setCylindric (double radius, double height, double mass) |
| Make the object cylindric with a given mass. | |
| void | setRectangular (double l1, double l2, double height, double mass) |
| Make the object rectangular of size l1 x l2 with a given mass. | |
| void | setCustomHull (const Hull &hull, double mass) |
| Set a custom shape and mass to the object. | |
| void | setColor (const Color &color) |
| Set the overall color of this object, if hull is empty or if it does not contain any texture. | |
| virtual void | clickedInteraction (bool pressed, unsigned int buttonCode, double pointX, double pointY, double pointZ) |
| called for robot if a click is performed on it | |
Public Attributes | |
| OmniCam | rotatingDistanceSensor |
| The rotating, long range distance sensor. | |
| Public Attributes inherited from Enki::DifferentialWheeled | |
| double | leftSpeed |
| Left speed of the robot. | |
| double | rightSpeed |
| Reft speed of the robot. | |
| double | leftEncoder |
| The encoder for left wheel; this is not a real encoder, but rather the physical leftSpeed. | |
| double | rightEncoder |
| The encoder for right wheel; this is not a real encoder, but rather the physical rightSpeed. | |
| double | leftOdometry |
| The odometry (accumulation of encoders) for left wheel. | |
| double | rightOdometry |
| The odometry (accumulation of encoders) for right wheel. | |
| Public Attributes inherited from Enki::PhysicalObject | |
| UserData * | userData |
| Data attached by the user to this physical object. If non-null, will be destroyed with the object. | |
| double | collisionElasticity |
| Elasticity of collisions of this object. If 0, soft collision, 100% energy dissipation; if 1, elastic collision, 0% energy dissipation. Actual elasticity is the product of the elasticity of the two colliding objects. Walls are fully elastics. | |
| double | dryFrictionCoefficient |
| The dry friction coefficient mu. | |
| double | viscousFrictionCoefficient |
| The viscous friction coefficient. Premultiplied by mass. A value of k applies a force of -k * speed * mass. | |
| double | viscousMomentFrictionCoefficient |
| The viscous friction moment coefficient. Premultiplied by momentOfInertia. A value of k applies a force of -k * speed * momentOfInertia. | |
| Point | pos |
| The position of the object. | |
| double | angle |
| The orientation of the object in the world, standard trigonometric orientation. | |
| Vector | speed |
| The speed of the object. | |
| double | angSpeed |
| The rotation speed of the object, standard trigonometric orientation. | |
Additional Inherited Members | |
| Public Types inherited from Enki::PhysicalObject | |
| enum | ButtonCode { LEFT_MOUSE_BUTTON = 1<<0, RIGHT_MOUSE_BUTTON = 1<<1, MIDDLE_MOUSE_BUTTON = 1<<3 } |
| Static Public Attributes inherited from Enki::PhysicalObject | |
| static const double | g = 9.81 |
| Protected Member Functions inherited from Enki::PhysicalObject | |
| virtual void | collisionEvent (PhysicalObject *o) |
| The object collided with o during the current physical step, if o is null, it collided with walls. Called just before the object is de-interlaced. | |
| virtual void | initGlobalInteractions (double dt, World *w) |
| Initialize the global interactions, do nothing for PhysicalObject. | |
| virtual void | finalizeGlobalInteractions (double dt, World *w) |
| All global interactions are finished, do nothing for PhysicalObject. | |
| Protected Attributes inherited from Enki::DifferentialWheeled | |
| double | distBetweenWheels |
| Distance between the left and right driving wheels. | |
| double | maxSpeed |
| Maximum speed wheels can provide. | |
| double | noiseAmount |
| Relative amount of motor noise. | |
| Protected Attributes inherited from Enki::Robot | |
| std::vector< LocalInteraction * > | localInteractions |
| Vector of local interactions. | |
| std::vector< GlobalInteraction * > | globalInteractions |
| Vector of global interactions. | |
Detailed Description
A very simplified model of the Sbot mobile robot.
Only implement distance sensors, both short and long range, using an omnicam. The virtual bumper values are extracted out of the omnicam data. This is not very precise but very efficient.
The documentation for this class was generated from the following files:
- enki/robots/marxbot/Marxbot.h
- enki/robots/marxbot/Marxbot.cpp
