hormodular::Module::Module	(	ConfigParser	configParser,
		int	index
	)

Creates a Module, indicating which position it occuppies inside the modular robot.

Parameters:

configParser	ConfigParser object contaning the module configuration parameters
index	Position occupied by the module inside the modular robot, used to extract the correct configuration from the configParser, as well as for debugging purposes.

Todo:: Use configParser for this:

{
    //-- Store absolute id in the robot:
    module_index = index;

    //-- Create connectors
    for(int i = 0; i < 4; i++)
        connectors.push_back(new Connector() );

    //-- Create sinusoidal oscillator
    oscillator = new SinusoidalOscillator();

    //-- Create gait tables
    //const std::string GAIT_TABLE_FILEPATH = "../../data/test/test_gait_table.txt";
    //const std::string GAIT_TABLE_FILEPATH = "../data/test/test_gait_table.txt";
    const std::string GAIT_TABLE_MULTIDOF_11 = "multidof-11-2-gaittable.txt";
    const std::string GAIT_TABLE_MULTIDOF_7 = "multidof-7-tripod-gaittable.txt";
    const std::string GAIT_TABLE_MULTIDOF_9 = "multidof-9-quad-gaittable.txt";


    gaitTables.push_back(new GaitTable(configParser.getGaitTableFolder() + GAIT_TABLE_MULTIDOF_11));
    gaitTables.push_back(new GaitTable(configParser.getGaitTableFolder() + GAIT_TABLE_MULTIDOF_7));
    gaitTables.push_back(new GaitTable(configParser.getGaitTableFolder() + GAIT_TABLE_MULTIDOF_9));

    //-- Load frequency table:
    frequencyTable = new GaitTable(configParser.getFrequencyTableFile());

    //-- Load orientation
    orientation = configParser.getOrientations()[index];

    reset();
}

Here is the call graph for this function: