IRSensor Class Reference

Class for IR sensors. More...

#include <irsensor.h>

Inherits RaySensor.

Inheritance diagram for IRSensor:

[legend]Collaboration diagram for IRSensor:

[legend]List of all members.

Public Member Functions
	IRSensor (double exponent=1)
virtual	~IRSensor ()
virtual void	init (const OdeHandle &odeHandle, const OsgHandle &osgHandle, Primitive *body, const osg::Matrix pose, double range, rayDrawMode drawMode=drawSensor)
	providing essential informations
virtual void	reset ()
	used for reseting the sensor value to a value of maximal distance.
virtual bool	sense (dGeomID object)
	performs sense action by checking collision with the given object
virtual double	get ()
	returns the sensor value in the range [0,1]; 0 means nothing no object in the sensor distance range 1 means contact with another object
virtual void	update ()
	updates the position of the osg nodes
virtual void	setRange (double range)
	set the range of the sensor
virtual dGeomID	getGeomID ()
	returns the geomID of the ray geom (used for optimisation)
double	getExponent () const
	returns the exponent of the sensor characteritic (default: 1 (linear))
void	setExponent (double exp)
	sets the exponent of the sensor characteritic (default: 1 (linear))
Protected Member Functions
virtual double	characteritic (double len)
	describes the sensor characteritic An exponential curve is used.
Protected Attributes
dGeomID	transform
dGeomID	ray
double	range
double	len
double	value
double	exponent
OSGCylinder *	sensorBody
OSGBox *	sensorRay
OsgHandle	osgHandle
bool	initialised

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Detailed Description

Class for IR sensors.

IR sensors are based on distance measurements using the ODE geom class Ray. The sensor value is obtained by collisions. However of no collision is detected the sensor needs to ajust its output as well. Therefore a reset function is provided.

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Constructor & Destructor Documentation

IRSensor (  double  exponent = 1  )

Parameters: exponent  exponent of the sensor characteritic (default: 1 (linear))

~IRSensor (   )  [virtual]

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Member Function Documentation

double characteritic (  double  len  )  [protected, virtual]

describes the sensor characteritic An exponential curve is used. See also: setExponent()

double get (   )  [virtual]

returns the sensor value in the range [0,1]; 0 means nothing no object in the sensor distance range 1 means contact with another object See also: characteritic() Implements RaySensor.

double getExponent (   )  const [inline]

returns the exponent of the sensor characteritic (default: 1 (linear))

dGeomID getGeomID (   )  [virtual]

returns the geomID of the ray geom (used for optimisation) Implements RaySensor.

void init (  const OdeHandle &  odeHandle, const OsgHandle &  osgHandle, Primitive *  body, const osg::Matrix  pose, double  range, rayDrawMode  drawMode = drawSensor )  [virtual]

providing essential informations Parameters: odeHandle  OdeHandle osgHandle  OsgHandle body  primitive to which the sensor will be attached pose  relative pose in respect to body in which the sensor will be placed range  length of the sensor drawMode  whether to draw nothing, sensor body, ray, or both Implements RaySensor.

void reset (   )  [virtual]

used for reseting the sensor value to a value of maximal distance. Implements RaySensor.

bool sense (  dGeomID  object  )  [virtual]

performs sense action by checking collision with the given object Returns: true for collision handled (sensed) and false for no interaction Implements RaySensor.

void setExponent (  double  exp  )  [inline]

sets the exponent of the sensor characteritic (default: 1 (linear))

void setRange (  double  range  )  [virtual]

set the range of the sensor Parameters: range  new length of the sensor Implements RaySensor.

void update (   )  [virtual]

updates the position of the osg nodes Implements RaySensor.

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Member Data Documentation

double exponent [protected]

bool initialised [protected]

double len [protected]

OsgHandle osgHandle [protected]

double range [protected]

dGeomID ray [protected]

OSGCylinder* sensorBody [protected]

OSGBox* sensorRay [protected]

dGeomID transform [protected]

double value [protected]

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

• irsensor.h
• irsensor.cpp

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