hormodular::SimulatedModularRobotInterface Class Reference

Interface to the simulated robot. More...

#include <SimulatedModularRobotInterface.hpp>

Inheritance diagram for hormodular::SimulatedModularRobotInterface:

Collaboration diagram for hormodular::SimulatedModularRobotInterface:

List of all members.

Public Member Functions
	SimulatedModularRobotInterface (ConfigParser configParser)
virtual bool	start ()
	Starts the simulation.
virtual bool	stop ()
	Stops the simulation.
virtual bool	destroy ()
	Frees all the dynamically allocated memory.
virtual bool	reset ()
	Resets the simulation, returning the robot to the initial position.
virtual bool	setProperty (std::string property, std::string value)
	Configure a property or parameter of the interface.
virtual float	getTravelledDistance ()
	Returns the distance travelled by the simulated modular robot.
virtual bool	sendJointValues (std::vector< float > joint_values, float step_ms=0)
	Sends the specified joint position values to the simulated modular robot servocontroller.
virtual std::vector< float >	getJointValues ()
	Returns the actual joint position values of the simulated modular robot.
Private Member Functions
void	calculatePos ()
	Gets robot position and stores it on the current_pos variable.
Private Attributes
SimulationOpenRAVE *	simulation
std::string	environment_file
OpenRAVE::ControllerBasePtr	controller
int	step_ms
double	step_s
std::pair< float, float >	start_pos
std::pair< float, float >	current_pos

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Detailed Description

Interface to the simulated robot.

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

• SimulatedModularRobotInterface.hpp
• SimulatedModularRobotInterface.cpp