hormodular::Module Class Reference

Base class for different types of modules for modular robotics. More...

#include <Module.hpp>

Collaboration diagram for hormodular::Module:

List of all members.

Public Member Functions
	Module (ConfigParser configParser, int index)
	Creates a Module, indicating which position it occuppies inside the modular robot.
	~Module ()
bool	reset ()
	Resets the module to its initial state.
bool	attach (int localConnector, Connector *remoteConnector, int orientation=-1)
	Connects a connector from this module to other connector from other module.
Connector *	getConnector (int localConnector)
bool	processHormones ()
	Process the incoming hormones, and discover the different module IDs from them.
bool	sendHormones ()
	Send the hormones in the output buffer to their destination modules.
bool	updateOscillatorParameters ()
	Gets the parameters for the current module IDs and sets them on the oscillator.
float	calculateNextJointPos ()
	Returns the next joint position according to the current elapsed time.
bool	updateElapsedTime (float timeIncrement_ms)
	updateElapsedTime
unsigned long	getID ()
float	getCurrentJointPos ()
Private Attributes
ConfigParser	configParser
std::vector< GaitTable * >	gaitTables
GaitTable *	frequencyTable
std::vector< Connector * >	connectors
Oscillator *	oscillator
int	module_index
unsigned long	id
int	configurationId
float	currentJointPos
unsigned long	elapsedTime
Orientation	orientation

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Detailed Description

Base class for different types of modules for modular robotics.

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

• Module.hpp
• Module.cpp