hormodular::ModularRobot Class Reference

Modular robot for modular robotics. More...

#include <ModularRobot.h>

Collaboration diagram for hormodular::ModularRobot:

List of all members.

Public Member Functions
	ModularRobot (ConfigParser configParser, std::string robotInterfaceType="simulated")
	Creates a ModularRobot, specifying the type of robot to be created.
	~ModularRobot ()
bool	run (unsigned long runTime)
	Runs the modular robot distributed controller for a given amount of time.
bool	reset ()
	Resets the initial state of the robot.
bool	setTimeStep (float step_ms)
bool	setProperty (std::string property, std::string value)
float	getTravelledDistance ()
Static Public Attributes
static const int	COMMUNICATION_PERIOD_MS = 100
Private Member Functions
bool	attachModules ()
	Function that performs the connections between the different connectors of the different modules.
Private Attributes
ConfigParser	configParser
std::vector< Module * >	modules
ModularRobotInterface *	robotInterface
unsigned long	elapsed_time
	Time elapsed, expressed in us.
float	step_ms
	Simulation / robot communication step time, expressed in ms.
std::vector< float >	joint_values

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Detailed Description

Modular robot for modular robotics.

ModularRobot class contains all the modules that form the modular robot, and it is in charge of executing the modules controllers, emulating a concurrent distributed system.

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

• ModularRobot.h
• ModularRobot.cpp