cajun::draw_robot_t Class Reference

#include <draw_robot.H>

Inheritance diagram for cajun::draw_robot_t:

List of all members.

Public Member Functions
	draw_robot_t (double cbviz_origin_pos[3], char const *robot_model_file, conf_t &viz_conf_, int viz_mode, world_state_t *ws_)
void	read_config_file (char const *)
bool	get_robot_position (double pos[3])
bool	get_robot_orientation_matrix (double rot[16])
bool	get_robot_orientation_euler (double rot[3])
double	get_robot_height ()
double	get_robot_length ()
double	get_robot_width ()
void	init_data ()
	Initialization of display lists, etc.
void	display_robot_components (int component_type)
void	update_data (double bot_pos_[3])
	Function called for idle loop.
void	display (double pos_[3])
	Function called during display loop.
void	toggle_display ()
	Toggle displaying of the data.
Public Attributes
robot_trace_t *	m_robot_trace
Private Member Functions
void	draw_robot_heading (double pos[3])
void	draw_line_to_bumper ()
bool	get_bumper_position (double pos[3])
Private Attributes
world_state_t *	m_world_state
	For reading from data queues.
Model *	pCajunbot
Model *	pWheel
double	m_robot_width
double	m_robot_length
double	m_robot_height
double	m_wheel_radius
double	m_wheel_width
double	m_max_linear_velocity
double	m_throttle_rate
double	m_lever_rate
double	cbviz_origin [3]
bool	m_display
	For toggling drawing of data.
motion_data_t	m_motion_data
nav_data_t	m_nav_data
drive_data_t	m_drive_data
bool	m_textured_bot
int	m_viz_mode
bool	m_draw_bot
bool	m_draw_mesh
double	m_pos [3]
double	m_bumper_pos [3]
double	m_orient [16]
laser_visualization_t *	m_laser_visualization

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Constructor & Destructor Documentation

draw_robot_t::draw_robot_t	(	double	cbviz_origin_pos[3],
		char const *	robot_model_file,
		conf_t &	viz_conf_,
		int	viz_mode,
		world_state_t *	ws_
	)

References cbviz_origin, cajun::loadMilkshapeModelData(), m_display, m_draw_bot, m_draw_mesh, m_robot_trace, m_textured_bot, m_viz_mode, m_world_state, pCajunbot, POSX, POSY, POSZ, pWheel, and read_config_file().

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Member Function Documentation

void draw_robot_t::display

(

double

bot_bos_[3]

)

[virtual]

Function called during display loop.

Implements cajun::component_interface_t.

References Model::draw(), cajun::draw_cube(), draw_line_to_bumper(), Model::draw_mesh(), cajun::robot_trace_t::draw_robot_trace(), cajun::component_interface_t::m_data_ok, m_display, m_draw_bot, cajun::robot_trace_t::m_draw_line_to_bumper, m_draw_mesh, m_drive_data, m_orient, m_pos, m_robot_height, m_robot_length, m_robot_trace, m_robot_width, m_textured_bot, m_wheel_radius, pCajunbot, pWheel, and R2D.

void cajun::draw_robot_t::display_robot_components

(

int

component_type

)

void draw_robot_t::draw_line_to_bumper

(

)

[private]

References m_bumper_pos, and m_pos.

Referenced by display().

void draw_robot_t::draw_robot_heading

(

double

pos[3]

)

[private]

References m_motion_data.

bool draw_robot_t::get_bumper_position

(

double

pos[3]

)

[private]

References cbviz_origin, m_world_state, POSX, POSY, and POSZ.

Referenced by update_data().

double draw_robot_t::get_robot_height

(

)

References m_robot_height.

double draw_robot_t::get_robot_length

(

)

References m_robot_length.

bool draw_robot_t::get_robot_orientation_euler

(

double

rot[3]

)

References m_motion_data, and m_world_state.

Referenced by cajun::simulation_draw_t::update_data().

bool draw_robot_t::get_robot_orientation_matrix

(

double

rot[16]

)

References cajun::get_rotation_matrix(), m_motion_data, and m_world_state.

Referenced by update_data().

bool draw_robot_t::get_robot_position

(

double

pos[3]

)

References cbviz_origin, m_nav_data, m_world_state, POSX, POSY, and POSZ.

Referenced by cajun::simulation_draw_t::display_guide(), cajun::simulation_draw_t::update_data(), and update_data().

double draw_robot_t::get_robot_width

(

)

References m_robot_width.

void draw_robot_t::init_data

(

)

[virtual]

Initialization of display lists, etc.

Reimplemented from cajun::component_interface_t.

References Model::Init(), pCajunbot, and pWheel.

void draw_robot_t::read_config_file

(

char const *

robot_conf_file

)

References m_lever_rate, m_max_linear_velocity, m_robot_height, m_robot_length, m_robot_width, m_throttle_rate, m_wheel_radius, and m_wheel_width.

Referenced by draw_robot_t().

void draw_robot_t::toggle_display

(

)

[virtual]

Toggle displaying of the data.

Implements cajun::component_interface_t.

References m_display.

Referenced by cajun::simulation_draw_t::normalKey_callback().

void draw_robot_t::update_data

(

double

bot_pos_[3]

)

[virtual]

Function called for idle loop.

Implements cajun::component_interface_t.

References get_bumper_position(), get_robot_orientation_matrix(), get_robot_position(), m_bumper_pos, cajun::component_interface_t::m_data_ok, m_drive_data, m_orient, m_pos, m_robot_trace, m_world_state, and cajun::robot_trace_t::note_robot_position().

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Member Data Documentation

double cajun::draw_robot_t::cbviz_origin[3] [private]

Referenced by draw_robot_t(), get_bumper_position(), and get_robot_position().

double cajun::draw_robot_t::m_bumper_pos[3] [private]

Referenced by draw_line_to_bumper(), and update_data().

bool cajun::draw_robot_t::m_display [private]

For toggling drawing of data.

Reimplemented from cajun::component_interface_t.

Referenced by display(), draw_robot_t(), and toggle_display().

bool cajun::draw_robot_t::m_draw_bot [private]

Referenced by display(), and draw_robot_t().

bool cajun::draw_robot_t::m_draw_mesh [private]

Referenced by display(), and draw_robot_t().

drive_data_t cajun::draw_robot_t::m_drive_data [private]

Referenced by display(), and update_data().

laser_visualization_t* cajun::draw_robot_t::m_laser_visualization [private]

double cajun::draw_robot_t::m_lever_rate [private]

Referenced by read_config_file().

double cajun::draw_robot_t::m_max_linear_velocity [private]

Referenced by read_config_file().

motion_data_t cajun::draw_robot_t::m_motion_data [private]

Referenced by draw_robot_heading(), get_robot_orientation_euler(), and get_robot_orientation_matrix().

nav_data_t cajun::draw_robot_t::m_nav_data [private]

Referenced by get_robot_position().

double cajun::draw_robot_t::m_orient[16] [private]

Referenced by display(), and update_data().

double cajun::draw_robot_t::m_pos[3] [private]

Referenced by display(), draw_line_to_bumper(), and update_data().

double cajun::draw_robot_t::m_robot_height [private]

Referenced by display(), get_robot_height(), and read_config_file().

double cajun::draw_robot_t::m_robot_length [private]

Referenced by display(), get_robot_length(), and read_config_file().

robot_trace_t* cajun::draw_robot_t::m_robot_trace

Referenced by display(), draw_robot_t(), and update_data().

double cajun::draw_robot_t::m_robot_width [private]

Referenced by display(), get_robot_width(), and read_config_file().

bool cajun::draw_robot_t::m_textured_bot [private]

Referenced by display(), and draw_robot_t().

double cajun::draw_robot_t::m_throttle_rate [private]

Referenced by read_config_file().

int cajun::draw_robot_t::m_viz_mode [private]

Referenced by draw_robot_t().

double cajun::draw_robot_t::m_wheel_radius [private]

Referenced by display(), and read_config_file().

double cajun::draw_robot_t::m_wheel_width [private]

Referenced by read_config_file().

world_state_t* cajun::draw_robot_t::m_world_state [private]

For reading from data queues.

Reimplemented from cajun::component_interface_t.

Referenced by draw_robot_t(), get_bumper_position(), get_robot_orientation_euler(), get_robot_orientation_matrix(), get_robot_position(), and update_data().

Model* cajun::draw_robot_t::pCajunbot [private]

Referenced by display(), draw_robot_t(), and init_data().

Model* cajun::draw_robot_t::pWheel [private]

Referenced by display(), draw_robot_t(), and init_data().

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

• draw_robot.H
• draw_robot.C