#include <raysensor.h>
Inherited by IRSensor.
Inheritance diagram for RaySensor:
Public Types | |
enum | rayDrawMode { drawNothing, drawRay, drawSensor, drawAll } |
Public Member Functions | |
RaySensor () | |
virtual | ~RaySensor () |
virtual void | init (const OdeHandle &odeHandle, const OsgHandle &osgHandle, Primitive *body, const osg::Matrix pose, double range, rayDrawMode drawMode=drawSensor)=0 |
providing essential informations | |
virtual void | reset ()=0 |
used for reseting the sensor value to a value of maximal distance. | |
virtual bool | sense (dGeomID object)=0 |
performs sense action by checking collision with the given object | |
virtual double | get ()=0 |
returns the sensor value (usually in the range [-1,1] ) | |
virtual void | setRange (double range)=0 |
set the range of the sensor | |
virtual void | update ()=0 |
updates the position of the osg nodes | |
virtual dGeomID | getGeomID ()=0 |
returns the geomID of the ray geom (used for optimisation) |
This are sensors which 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. See also RaySensorBank, which is an object for managing multiple ray sensors.
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returns the sensor value (usually in the range [-1,1] )
Implemented in IRSensor.
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returns the geomID of the ray geom (used for optimisation)
Implemented in IRSensor.
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providing essential informations
Implemented in IRSensor.
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used for reseting the sensor value to a value of maximal distance.
Implemented in IRSensor.
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performs sense action by checking collision with the given object
Implemented in IRSensor.
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set the range of the sensor
Implemented in IRSensor.
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updates the position of the osg nodes
Implemented in IRSensor.
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