#include <Robot.h>

Public Member Functions
	Robot (b2World *world, config::sRobot robotParameters, double posX, double posY, double angle=0)

void	createBody (b2World *world, config::sRobot m_robotParameters, double posX, double posY, double angle=0)

void	drawBody (sf::RenderWindow &window, double m_to_pix)

void	drawJoint (sf::RenderWindow &window, double m_to_px)

void	drawGripJoint (sf::RenderWindow &window, double m_to_px)

void	moveBodyWithMotor ()

void	moveBodyWithForce ()

void	moveBodyWithImpulse ()

void	turnOffMotor (side s)

void	blockMotorRotation (side s)

void	allowMotorRotation (side s)

void	limitMotorRotation (side s, double limit_angle_rad)

void	setState (e_state state)

e_state	getState ()

b2Body *	getBody ()

b2Body *	getWheel (side s)

b2PrismaticJointDef	getJointDef (side s)

void	grip (b2Contact contact, b2Body otherBody, double m_to_px)

void	gripGroundFromPos ()

bool	gripSide (b2Contact contact, b2Body otherBody, double m_to_px)

bool	contactOnGripSide (b2Contact *contact)

void	setContact (bool contact)

bool	isContact ()

void	setDelay (int delay)

int	getDelay ()

bool	checkGripp (side s)

bool	isGrabbed ()

int	nbJoint (side s)

void	incrementNbJoint (side s)

void	resetNbJoint (side s)

b2RevoluteJoint *	getMotor (side s)

void	destroyBody ()

double	getBodyLength ()

void	setSpeed (double speed)

bool	isReady ()

bool	isMoving ()

void	setId (int id)

int	getId ()

b2Vec2	getPosition ()

double	getAngle ()

Public Attributes
side	m_movingSide = RIGHT

bool	m_ready = false

bool	m_moving = false

bool	m_start = true

bool	m_pushing = false

bool	m_isGrabbed = false

double	m_referenceAngle = -PI

double	m_referenceAngleJoint = 0

int	m_bridgeAge = 0

int	m_age = 0

int	m_pushing_delay = 0

b2PrismaticJoint *	m_previousGripJoint = nullptr

b2PrismaticJoint *	m_currentGripJoint = nullptr

Detailed Description

A Robot object is a set of physical properties (body, fixture, joints) and graphical features that describes the robot. This features are synchronized and the robot is controlled by proper member functions. Those member functions allow to control the grip creation and the robot movement at the joint level.

Definition at line 40 of file Robot.h.

Member Function Documentation

◆ allowMotorRotation()

void Robot::allowMotorRotation ( side s )

allowMotorRotation, remove the rotation limit and keep the motor active

Parameters

s	is the motor side can take LEFT or RIGHT value

Definition at line 564 of file Robot.cpp.

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◆ blockMotorRotation()

void Robot::blockMotorRotation ( side s )

blockMotorRotation keep the motor enable but set an infinitesimal rotation limit and the speed to 0 in order to block totally the rotation

Parameters

s	is the motor side can take LEFT or RIGHT value

Definition at line 522 of file Robot.cpp.

◆ checkGripp()

bool Robot::checkGripp ( side s )

Check if the robot is currently grabbing something (gripper on)

Parameters

side	of the gripper can be either LEFT or RIGHT

Returns: true if the gripper on the side is active

Definition at line 902 of file Robot.cpp.

◆ createBody()

void Robot::createBody	(	b2World *	world,
		config::sRobot	m_robotParameters,
		double	posX,
		double	posY,
		double	angle = `0`
	)

Create the box2D body of the robot and attach it to the world

Parameters

world	box2D world defined in the main program
robotParameters	structure containing the robot parameters: only the body length and speed have to be defined
posX,posY	: initial position of the robot in this world in meters
angle	: initial angle of the robot in this world in rad

Definition at line 55 of file Robot.cpp.

◆ destroyBody()

void Robot::destroyBody ( )

Destroy the Box2D bodies composing the robot.

Definition at line 1093 of file Robot.cpp.

◆ drawBody()

void Robot::drawBody	(	sf::RenderWindow &	window,
		double	m_to_pix
	)

Use SFML to to draw the body of the robot on the window

Parameters

window	active SFML window
m_to_pix	is the conversion factor used to transform the meters to pixels

Definition at line 142 of file Robot.cpp.

◆ drawGripJoint()

void Robot::drawGripJoint	(	sf::RenderWindow &	window,
		double	m_to_px
	)

Use SFML to to draw the robot's grippers on the window

Parameters

window	active SFML window
m_to_pix	is the conversion factor used to transform the meters to pixels

Definition at line 233 of file Robot.cpp.

◆ drawJoint()

void Robot::drawJoint	(	sf::RenderWindow &	window,
		double	m_to_px
	)

Use SFML to to draw all the joints of the robot on the window

Parameters

window	active SFML window
m_to_pix	is the conversion factor used to transform the meters to pixels

Definition at line 303 of file Robot.cpp.

◆ getAngle()

double Robot::getAngle ( )

Get the robot angle (angle of the robot body) in rad respectively to the original angle. This angle might require to be processed to be comprised between 0 and 2Pi

Returns: the angle of the robot (rad)

Definition at line 1037 of file Robot.cpp.

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◆ getBody()

b2Body * Robot::getBody ( )

Get the Box2D body part representing the attach between the robot's wheels

Returns: a pointer on the body of the attach between the two wheels

Definition at line 1041 of file Robot.cpp.

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◆ getBodyLength()

double Robot::getBodyLength ( )

Returns: the body length of the robot in meter (and not pixels)

Definition at line 1044 of file Robot.cpp.

◆ getDelay()

int Robot::getDelay ( )

Get the current robot's delay as a number of iteration left for the robot before being able to be ready.

Returns: the current robot's delay before being ready

Definition at line 1048 of file Robot.cpp.

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◆ getId()

int Robot::getId ( )

Returns: the value of the robot unique id stored in m_id

Definition at line 1053 of file Robot.cpp.

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◆ getJointDef()

b2PrismaticJointDef Robot::getJointDef ( side s )

get the box2D definition of the prismatic joint used to create the gripper, this definition can then be used to create the actual grip joint

Parameters

s	is the side of the robot (relative to the robot referential), can be either LEFT or RIGHT

Definition at line 1056 of file Robot.cpp.

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◆ getMotor()

b2RevoluteJoint * Robot::getMotor ( side s )

Get a pointer on the Box2D joint between a foot and the robot body that act as the motor.

Parameters

s	side of the robot

Returns: a pointer on the Box2D joint that act as the motor of the given side s

Definition at line 982 of file Robot.cpp.

◆ getPosition()

b2Vec2 Robot::getPosition ( )

Get the robot center position (located at the center of the robot body) in m respectively to the origin of the Box2D world (top left corner)

Returns: a b2Vec2 vector with the x and y coordinates of the robot position (m)

Definition at line 1065 of file Robot.cpp.

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◆ getState()

e_state Robot::getState ( )

Access the current robot state

Returns: the e_state value defining the robot state, can take two values WALK or BRIDGE

Definition at line 1069 of file Robot.cpp.

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◆ getWheel()

b2Body * Robot::getWheel ( side s )

Get the Box2D body part representing one of the two wheels of the robot

Parameters

s	is the side of the robot (relative to the robot referential), can be either LEFT or RIGHT that define which wheel will be returned

Returns: a pointer on the box2D wheel on the s side

Definition at line 1072 of file Robot.cpp.

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◆ grip()

void Robot::grip	(	b2Contact *	contact,
		b2Body *	otherBody,
		double	m_to_px
	)

Create the grip joint definition as a Box2D prismatic joint definition object. gripGroundFromPos is used when one needs to create a static robot: It directly create the joint object without the intermediate definition.

Parameters

contact	box2D contact object usually obtained via the contact listener
otherBody	box2D body in contact with the robot
m_to_px	scale conversion between box2d and sfml coordinates, used to draw the contact point

update m_leftGripJointDef and m_rightGripJointDef depending on the contact side

Definition at line 575 of file Robot.cpp.

◆ gripGroundFromPos()

void Robot::gripGroundFromPos ( )

Create the grip joint definition as a Box2D prismatic joint definition object. gripGroundFromPos is used when one needs to create a static robot: It directly create the joint object without the intermediate definition.

Parameters

contact	box2D contact object usually obtained via the contact listener
otherBody	box2D body in contact with the robot
m_to_px	scale conversion between box2d and sfml coordinates, used to draw the contact point

update m_leftGripJointDef and m_rightGripJointDef depending on the contact side

Definition at line 729 of file Robot.cpp.

◆ gripSide()

bool Robot::gripSide	(	b2Contact *	contact,
		b2Body *	otherBody,
		double	m_to_px
	)

Create the grip joint definition as a Box2D prismatic joint definition object. gripGroundFromPos is used when one needs to create a static robot: It directly create the joint object without the intermediate definition.

Parameters

contact	box2D contact object usually obtained via the contact listener
otherBody	box2D body in contact with the robot
m_to_px	scale conversion between box2d and sfml coordinates, used to draw the contact point

update m_leftGripJointDef and m_rightGripJointDef depending on the contact side

Definition at line 641 of file Robot.cpp.

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◆ incrementNbJoint()

void Robot::incrementNbJoint ( side s )

Methods to increment the number of grip joints of the robot of a given side, this number should not exceed 1

Parameters

s	is the side of the robot: can be either LEFT or RIGHT

Definition at line 999 of file Robot.cpp.

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◆ isContact()

bool Robot::isContact ( )

Returns: true if the robot has just initiated a contact and didn't create a joint yet.

Definition at line 1082 of file Robot.cpp.

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◆ isGrabbed()

bool Robot::isGrabbed ( )

Check if the robot is currently grabbed by another robot

Returns: true if it is

Definition at line 938 of file Robot.cpp.

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◆ isMoving()

bool Robot::isMoving ( )

Returns: true if the robot is moving, false otherwise

Definition at line 1085 of file Robot.cpp.

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◆ isReady()

bool Robot::isReady ( )

Returns: true if the robot is ready to move, false otherwise

Definition at line 1088 of file Robot.cpp.

◆ limitMotorRotation()

void Robot::limitMotorRotation	(	side	s,
		double	limit_angle_rad
	)

Limit the motor rotation between +/- a given limit angle around the reference angle. The reference angle is defined by the member attribute m_referenceAngleJoint

Parameters

s	is the motor side can take LEFT or RIGHT value
limit_angle_rad	is the value that define the limit angle in rad

Definition at line 543 of file Robot.cpp.

◆ moveBodyWithForce()

void Robot::moveBodyWithForce ( )

Second of the three different methods to move the robot body in the clockwise direction, The parameters might need to be adapted to fit the simulation parameters (object size, scale, weight...) The speed is applied via the m_angularSpeed class member (except for the force The impulse method uses a proportional action to reach the angular target speed

Definition at line 470 of file Robot.cpp.

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◆ moveBodyWithImpulse()

void Robot::moveBodyWithImpulse ( )

Third of the three different methods to move the robot body in the clockwise direction, The parameters might need to be adapted to fit the simulation parameters (object size, scale, weight...) The speed is applied via the m_angularSpeed class member (except for the force The impulse method uses a proportional action to reach the angular target speed

Definition at line 495 of file Robot.cpp.

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◆ moveBodyWithMotor()

void Robot::moveBodyWithMotor ( )

First of the three different methods to move the robot body in the clockwise direction, This is the one used in the current implementation, the other two functions are alternative way to move the body but are currently not used The speed is applied via the m_angularSpeed class member (except for the force The impulse method uses a proportional action to reach the angular target speed

Definition at line 442 of file Robot.cpp.

◆ nbJoint()

int Robot::nbJoint ( side s )

Methods to check the number of grip joints of the robot of a given side, this number should not exceed 1

Parameters

s	is the side of the robot: can be either LEFT or RIGHT

Definition at line 991 of file Robot.cpp.

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◆ resetNbJoint()

void Robot::resetNbJoint ( side s )

Methods to reset the number of grip joints of the robot of a given side, this number should not exceed 1

Parameters

s	is the side of the robot: can be either LEFT or RIGHT

Definition at line 1007 of file Robot.cpp.

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◆ setContact()

void Robot::setContact ( bool contact )

Used in the contact listener to update the m_contact flag if the robot initiate the contact

update m_contact

Definition at line 1020 of file Robot.cpp.

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◆ setDelay()

void Robot::setDelay ( int delay )

setter and getter of the delay m_delay parameter

Parameters

delay is the number of iteration needed to be able to turn the motors on again

Definition at line 1023 of file Robot.cpp.

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◆ setId()

void Robot::setId ( int id )

Set the unique id of the robot. Usually it corresponds to the number of robot created (as opposed to number of active robots)

Parameters

id	the unique id of the robot

update m_id

Definition at line 1027 of file Robot.cpp.

◆ setSpeed()

void Robot::setSpeed ( double speed )

the rotational robot speed, if the moveBodyWithMotor is used, the speed is in rad/s

Definition at line 1030 of file Robot.cpp.

◆ setState()

void Robot::setState ( e_state state )

Set the current robot state

Parameters

state is the new robot state, can take three values WALK or BRIDGE

Definition at line 1033 of file Robot.cpp.

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◆ turnOffMotor()

void Robot::turnOffMotor ( side s )

Turn off wheels' motor turnOffMotor disable the motor, it means that the rotation is freed

Parameters

s	is the motor side can take LEFT or RIGHT value

Definition at line 513 of file Robot.cpp.

Member Data Documentation

◆ m_previousGripJoint

b2PrismaticJoint* Robot::m_previousGripJoint = nullptr

Pointers on the two possible gripping joints

Definition at line 287 of file Robot.h.

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

Public Member Functions

Public Attributes

Detailed Description

Member Function Documentation

◆ allowMotorRotation()

◆ blockMotorRotation()

◆ checkGripp()

◆ createBody()

◆ destroyBody()

◆ drawBody()

◆ drawGripJoint()

◆ drawJoint()

◆ getAngle()

◆ getBody()

◆ getBodyLength()

◆ getDelay()

◆ getId()

◆ getJointDef()

◆ getMotor()

◆ getPosition()

◆ getState()

◆ getWheel()

◆ grip()

◆ gripGroundFromPos()

◆ gripSide()

◆ incrementNbJoint()

◆ isContact()

◆ isGrabbed()

◆ isMoving()

◆ isReady()

◆ limitMotorRotation()

◆ moveBodyWithForce()

◆ moveBodyWithImpulse()

◆ moveBodyWithMotor()

◆ nbJoint()

◆ resetNbJoint()

◆ setContact()

◆ setDelay()

◆ setId()

◆ setSpeed()

◆ setState()

◆ turnOffMotor()

Member Data Documentation

◆ m_previousGripJoint