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SIGEL_Environment::SIG_Environment Class Reference

The SIG_Environment contains the Environment Data. More...

#include <SIG_Environment.h>

List of all members.

Public Methods

 SIG_Environment ()
 Default constructor. More...

 SIG_Environment (DL_vector newGravity, double newYPlaneLevel, double newVeloDamping, DL_vector newStartPosition, QString newFloorMaterialName, double newGroundPlanarSpringConstant, double newGroundPlanarSpringConstant, double newGroundPlanarDamperConstant, double newGroundNormalDamperConstant, double newFrictionCoeff_u_s, double newFrictionCoeff_u_k)
 Value constructor. More...

 SIG_Environment (QTextStream& file)
 File constructor. More...

void writeToFile (QTextStream& file)
 Writes the Environment to a File. More...

void readFromFile (QTextStream& file)
 Reads the Environment from a File. More...

void setGravity (DL_vector newGravity)
 Sets the gravity. More...

DL_vector getGravity () const
 Reads the gravity. More...

void setVeloDamping (double newVeloDamping)
 Sets the veloDamping. More...

double getVeloDamping () const
 Reads the veloDamping. More...

void setYPlaneLevel (double newYPlaneLevel)
 Sets the yPlaneLevel. More...

double getYPlaneLevel () const
 Reads the yPlaneLevel. More...

void setStartPosition (DL_vector newStartPosition)
 Sets the startPosition. More...

DL_vector getStartPosition () const
 Reads the startPositon. More...

void setFloorMaterialName (QString newFloorMaterialName)
 Sets the floorMaterialName. More...

QString getFloorMaterialName () const
 Reads the floorMaterialName. More...

void setGroundPlanarSpringConstant (double newGroundPlanarSpringConstant)
 Sets the ground planar spring constant. More...

double getGroundPlanarSpringConstant () const
 Reads the ground planar spring constant. More...

void setGroundNormalSpringConstant (double newGroundNormalSpringConstant)
 Sets the ground normal spring constant. More...

double getGroundNormalSpringConstant () const
 Reads the ground normal spring constant. More...

void setGroundPlanarDamperConstant (double newGroundPlanarDamperConstant)
 Sets the the ground planar damper constant. More...

double getGroundPlanarDamperConstant () const
 Reads the the ground planar damper constant. More...

void setGroundNormalDamperConstant (double newGroundNormalDamperConstant)
 Sets the ground normal damper constant. More...

double getGroundNormalDamperConstant () const
 Reads the ground normal damper constant. More...

void setFrictionCoeff_u_s (double newFrictionCoeff_u_s)
 Sets the static friction coefficient. More...

double getFrictionCoeff_u_s () const
 Reads the static friction coefficient. More...

void setFrictionCoeff_u_k (double newFrictionCoeff_u_k)
 Sets the kinetic friction coefficient. More...

double getFrictionCoeff_u_k () const
 Reads the kinetic friction coefficient. More...


Private Attributes

double yPlaneLevel
 the storage for the zPlaneLevel. More...

DL_vector gravity
 the storage for the gravity vector. More...

double veloDamping
 the storage for the velo-damping. More...

DL_vector startPosition
 the storage for the start position. More...

QString floorMaterialName
 the storage for the material name. More...

double groundPlanarSpringConstant
 the ground planar spring constant. More...

double groundNormalSpringConstant
 the ground normal spring constant. More...

double groundPlanarDamperConstant
 the ground planar damper constant. More...

double groundNormalDamperConstant
 the ground normal damper constant. More...

double frictionCoeff_u_s
 the static friction coefficient. More...

double frictionCoeff_u_k
 the kinetic friction coefficient. More...


Detailed Description

The SIG_Environment contains the Environment Data.

Later on, we hope to have some objects here as obstacles. The class can read from File and write to file.

Definition at line 19 of file SIG_Environment.h.


Constructor & Destructor Documentation

SIGEL_Environment::SIG_Environment::SIG_Environment ( )
 

Default constructor.

Postcondition:
Sets yPlaneLevel to 0 and gravity to 9.81 downwards.

Definition at line 5 of file SIG_Environment.cpp.

SIGEL_Environment::SIG_Environment::SIG_Environment ( DL_vector newGravity,
double newYPlaneLevel,
double newVeloDamping,
DL_vector newStartPosition,
QString newFloorMaterialName,
double newGroundPlanarSpringConstant,
double newGroundNormalSpringConstant,
double newGroundPlanarDamperConstant,
double newGroundNormalDamperConstant,
double newFrictionCoeff_u_s,
double newFrictionCoeff_u_k )
 

Value constructor.

Parameters:
newGravity   The vector for the gravity, where the length defines the acceleration.
newYPlaneLevel   The minimal level for object to be (the ground plane).
Postcondition:
Sets yPlaneLevel to newYPlaneLevel and gravity to newGravity.

Definition at line 21 of file SIG_Environment.cpp.

SIGEL_Environment::SIG_Environment::SIG_Environment ( QTextStream & file )
 

File constructor.

Parameters:
file   the filestream to be read from.
Postcondition:
Reads yPlaneLevel and gravity from file.

Definition at line 87 of file SIG_Environment.cpp.


Member Function Documentation

QString SIGEL_Environment::SIG_Environment::getFloorMaterialName ( ) const
 

Reads the floorMaterialName.

Returns:
The name of the Material of the Floor.

Definition at line 157 of file SIG_Environment.cpp.

Referenced by SIGEL_Simulation::SIG_DynaMoSimulationData::SIG_DynaMoSimulationData().

double SIGEL_Environment::SIG_Environment::getFrictionCoeff_u_k ( ) const
 

Reads the kinetic friction coefficient.

Returns:
The value of the kinetic friction coefficient

Definition at line 217 of file SIG_Environment.cpp.

double SIGEL_Environment::SIG_Environment::getFrictionCoeff_u_s ( ) const
 

Reads the static friction coefficient.

Returns:
The value of the static friction coefficient

Definition at line 207 of file SIG_Environment.cpp.

DL_vector SIGEL_Environment::SIG_Environment::getGravity ( ) const
 

Reads the gravity.

Returns:
The vector for the gravity, where the length defines the acceleration.

Definition at line 125 of file SIG_Environment.cpp.

Referenced by SIGEL_Simulation::SIG_DynaSystem::SIG_DynaSystem().

double SIGEL_Environment::SIG_Environment::getGroundNormalDamperConstant ( ) const
 

Reads the ground normal damper constant.

Returns:
The value of the ground normal damper constant

Definition at line 197 of file SIG_Environment.cpp.

double SIGEL_Environment::SIG_Environment::getGroundNormalSpringConstant ( ) const
 

Reads the ground normal spring constant.

Returns:
The value of the ground normal spring constant

Definition at line 177 of file SIG_Environment.cpp.

double SIGEL_Environment::SIG_Environment::getGroundPlanarDamperConstant ( ) const
 

Reads the the ground planar damper constant.

Returns:
The value of the ground planar damper constant

Definition at line 187 of file SIG_Environment.cpp.

double SIGEL_Environment::SIG_Environment::getGroundPlanarSpringConstant ( ) const
 

Reads the ground planar spring constant.

Returns:
The value of the ground planar spring constant

Definition at line 167 of file SIG_Environment.cpp.

DL_vector SIGEL_Environment::SIG_Environment::getStartPosition ( ) const
 

Reads the startPositon.

Returns:
The starting Position of the Robot in the simulation.

Definition at line 149 of file SIG_Environment.cpp.

double SIGEL_Environment::SIG_Environment::getVeloDamping ( ) const
 

Reads the veloDamping.

Returns:
The amount of velo damping must be between 1 (no damping) and 0 (full damping).

Definition at line 141 of file SIG_Environment.cpp.

double SIGEL_Environment::SIG_Environment::getYPlaneLevel ( ) const
 

Reads the yPlaneLevel.

Returns:
The minimal level for object to be (the ground plane).

Definition at line 133 of file SIG_Environment.cpp.

void SIGEL_Environment::SIG_Environment::readFromFile ( QTextStream & file )
 

Reads the Environment from a File.

Parameters:
file   the filestream to read from.
Postcondition:
yPlaneLevel and gravity are read from file.

Definition at line 42 of file SIG_Environment.cpp.

Referenced by SIGEL_GP::SIG_GPExperiment::loadExperiment().

void SIGEL_Environment::SIG_Environment::setFloorMaterialName ( QString newFloorMaterialName )
 

Sets the floorMaterialName.

Parameters:
newFloorMaterialName   The name of the Material of the Floor.
Postcondition:
Sets floorMaterialName to newFloorMaterialName.

Definition at line 153 of file SIG_Environment.cpp.

void SIGEL_Environment::SIG_Environment::setFrictionCoeff_u_k ( double newFrictionCoeff_u_k )
 

Sets the kinetic friction coefficient.

Parameters:
newFrictionCoeff_u_k   The kinetic friction coefficient
Postcondition:
Sets frictionCoeff_u_k to newFrictionCoeff_u_k

Definition at line 212 of file SIG_Environment.cpp.

void SIGEL_Environment::SIG_Environment::setFrictionCoeff_u_s ( double newFrictionCoeff_u_s )
 

Sets the static friction coefficient.

Parameters:
newFrictionCoeff_u_s   The static friction coefficient
Postcondition:
Sets frictionCoeff_u_s to newFrictionCoeff_u_s

Definition at line 202 of file SIG_Environment.cpp.

void SIGEL_Environment::SIG_Environment::setGravity ( DL_vector newGravity )
 

Sets the gravity.

Parameters:
newGravity   The vector for the gravity, where the length defines the acceleration.
Postcondition:
Sets gravity to newGravity.

Definition at line 121 of file SIG_Environment.cpp.

void SIGEL_Environment::SIG_Environment::setGroundNormalDamperConstant ( double newGroundNormalDamperConstant )
 

Sets the ground normal damper constant.

Parameters:
newGroundNormalDamperConstant   The ground normal damper constant
Postcondition:
Sets groundNormalDamperConstant to newGroundNormalDamperConstant

Definition at line 192 of file SIG_Environment.cpp.

void SIGEL_Environment::SIG_Environment::setGroundNormalSpringConstant ( double newGroundNormalSpringConstant )
 

Sets the ground normal spring constant.

Parameters:
newGroundNormalSpringConstant   The ground normal spring constant
Postcondition:
Sets groundNormalSpringConstant to newGroundNormalSpringConstant

Definition at line 172 of file SIG_Environment.cpp.

void SIGEL_Environment::SIG_Environment::setGroundPlanarDamperConstant ( double newGroundPlanarDamperConstant )
 

Sets the the ground planar damper constant.

Parameters:
newGroundPlanarDamperConstant   The ground planar damper constant
Postcondition:
Sets groundPlanarDamperConstant to newGroundPlanarDamperConstant

Definition at line 182 of file SIG_Environment.cpp.

void SIGEL_Environment::SIG_Environment::setGroundPlanarSpringConstant ( double newGroundPlanarSpringConstant )
 

Sets the ground planar spring constant.

Parameters:
newGroundPlanarSpringConstant   The ground planar spring constant.
Postcondition:
Sets groundPlanarSpringConstant to newGroundPlanarSpringConstant

Definition at line 162 of file SIG_Environment.cpp.

void SIGEL_Environment::SIG_Environment::setStartPosition ( DL_vector newStartPosition )
 

Sets the startPosition.

Parameters:
newStartPosition   The starting Position of the Robot in the simulation.
Postcondition:
Sets startPosition to newStartPosition.

Definition at line 145 of file SIG_Environment.cpp.

void SIGEL_Environment::SIG_Environment::setVeloDamping ( double newVeloDamping )
 

Sets the veloDamping.

Parameters:
newVeloDamping   The amount of velo damping must be between 1 (no damping) and 0 (full damping)
Postcondition:
Sets veloDamping to newVeloDamping.

Definition at line 137 of file SIG_Environment.cpp.

void SIGEL_Environment::SIG_Environment::setYPlaneLevel ( double newYPlaneLevel )
 

Sets the yPlaneLevel.

Parameters:
newYPlaneLevel   The minimal level for object to be (the ground plane).
Postcondition:
Sets yPlaneLevel to newYPlaneLevel.

Definition at line 129 of file SIG_Environment.cpp.

void SIGEL_Environment::SIG_Environment::writeToFile ( QTextStream & file )
 

Writes the Environment to a File.

Parameters:
file   the filestream to write to.
Postcondition:
yPlaneLevel and gravity are witten to file.

Definition at line 91 of file SIG_Environment.cpp.

Referenced by SIGEL_GP::SIG_GPExperiment::saveExperiment(), and SIGEL_GP::SIG_GPPVMData::savePVMDataTransfer().


Member Data Documentation

QString SIGEL_Environment::SIG_Environment::floorMaterialName [private]
 

the storage for the material name.

Definition at line 258 of file SIG_Environment.h.

double SIGEL_Environment::SIG_Environment::frictionCoeff_u_k [private]
 

the kinetic friction coefficient.

Definition at line 271 of file SIG_Environment.h.

double SIGEL_Environment::SIG_Environment::frictionCoeff_u_s [private]
 

the static friction coefficient.

Definition at line 269 of file SIG_Environment.h.

DL_vector SIGEL_Environment::SIG_Environment::gravity [private]
 

the storage for the gravity vector.

Definition at line 252 of file SIG_Environment.h.

double SIGEL_Environment::SIG_Environment::groundNormalDamperConstant [private]
 

the ground normal damper constant.

Definition at line 267 of file SIG_Environment.h.

double SIGEL_Environment::SIG_Environment::groundNormalSpringConstant [private]
 

the ground normal spring constant.

Definition at line 263 of file SIG_Environment.h.

double SIGEL_Environment::SIG_Environment::groundPlanarDamperConstant [private]
 

the ground planar damper constant.

Definition at line 265 of file SIG_Environment.h.

double SIGEL_Environment::SIG_Environment::groundPlanarSpringConstant [private]
 

the ground planar spring constant.

Definition at line 261 of file SIG_Environment.h.

DL_vector SIGEL_Environment::SIG_Environment::startPosition [private]
 

the storage for the start position.

Definition at line 256 of file SIG_Environment.h.

double SIGEL_Environment::SIG_Environment::veloDamping [private]
 

the storage for the velo-damping.

Definition at line 254 of file SIG_Environment.h.

double SIGEL_Environment::SIG_Environment::yPlaneLevel [private]
 

the storage for the zPlaneLevel.

Definition at line 250 of file SIG_Environment.h.


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