Class to connect a Camera as a sensor to a robot. More...

#include <camerasensor.h>

Inheritance diagram for CameraSensor:

Collaboration diagram for CameraSensor:

Public Member Functions
	CameraSensor ()
	Creates a camera sensor. More...

virtual	~CameraSensor ()

virtual void	setInitData (Camera *camera, const OdeHandle &odeHandle, const OsgHandle &osgHandle, const osg::Matrix &pose)
	sets the initial data structures like the camera. More...

virtual void	setPose (const osg::Matrix &pose)
	changes the relative pose of the camera More...

virtual osg::Matrix	getPose ()
	relative pose of the camera More...

virtual void	init (Primitive own, Joint joint=0)
	this function initialized the camera (no need to overload) (Sensor interface) More...

virtual bool	sense (const GlobalData &globaldata)=0
	overload this function an process the image (use camera->getImage()) More...

virtual int	getSensorNumber () const =0
	overload this function and return the number of sensor values More...

virtual int	get (sensor *sensors, int length) const =0
	overload this function and return the sensor values More...

virtual void	update ()
	we update the camera's visual appearance More...

virtual std::list< sensor >	getList () const
	this is implemented based on get(sensor*,int) More...

Public Member Functions inherited from Sensor
	Sensor ()

virtual	~Sensor ()

virtual std::list < SensorMotorInfo >	getSensorInfos () const
	returns a list of sensor infos ( More...

std::list< sensor >	getListOfArray () const
	helper function for performance implementation of list<> get() based on array-get More...

Public Member Functions inherited from SensorMotorInfoAble
	SensorMotorInfoAble ()

void	setBaseName (const std::string &basename)

void	setBaseInfo (const SensorMotorInfo &baseinfo)

SensorMotorInfo	getBaseInfo ()

void	setNamingFunc (const NamingFunction &func)

NamingFunction	getNamingFunc () const

void	setNames (const std::vector< std::string > &names)
	set names explicitly (basename is anyway suffixed) More...

std::string	getName (int index) const
	returns the name of a single item. Typically called from within Sensor and Motor class. More...

std::list< SensorMotorInfo >	getInfos (int number) const
	get all infos. More...

Protected Member Functions
virtual void	intern_init ()=0
	overload this function to initialized you data structures. More...

Protected Attributes
Camera *	camera

OdeHandle	odeHandle

OsgHandle	osgHandle

osg::Matrix	pose

bool	isInitDataSet

Protected Attributes inherited from SensorMotorInfoAble
NamingFunction	func

SensorMotorInfo	baseinfo

Additional Inherited Members
Public Types inherited from Sensor
enum	Dimensions { X = 1, Y = 2, Z = 4, XY = X \| Y, XZ = X \| Z, YZ = Y \| Z, XYZ = X \| Y \| Z }
	defines which dimensions should be sensed. The meaning is sensor specific. More...

Public Types inherited from SensorMotorInfoAble
typedef std::function < std::string(int)>	NamingFunction
	function that returns the name given the index More...

Static Public Member Functions inherited from Sensor
static std::list< sensor >	selectrows (const matrix::Matrix &m, short dimensions)
	selects the rows specified by dimensions (X->0, Y->1, Z->2) More...

static int	selectrows (sensor *sensors, int length, const matrix::Matrix &m, short dimensions)
	selects the rows specified by dimensions (X->0, Y->1, Z->2) More...

static Dimensions	parseSensorDimension (char *str)

static std::string	dimensions2String (short dimensions)

Static Public Member Functions inherited from SensorMotorInfoAble
static std::string	defaultNameing (int index)
	the default implementation is for index==0: basename, otherwise basename + (index+1) More...

Detailed Description

Class to connect a Camera as a sensor to a robot.

Essentially it implements the conversion from the 2D image to a list of double sensor values. The initialization is a bit confusing: use the contructor (of a inherited class) to provide custom parameter; setInitData sets the handles and the camera which has to be called before the normal initialization of the Sensor (via init()). A subclass has to overload intern_init() to initialize intern structures (e.g. number of channels), sense() and get().

Constructor & Destructor Documentation

CameraSensor ( )

Creates a camera sensor.

Use setInitData() to make it useable.

~CameraSensor ( )

virtual

Member Function Documentation

virtual int get	(	sensor *	sensors,
		int	length
	)		const

pure virtual

overload this function and return the sensor values

Reimplemented from Sensor.

Implemented in PositionCameraSensor, OpticalFlow, and DirectCameraSensor.

virtual std::list<sensor> getList ( ) const

virtual

this is implemented based on get(sensor*,int)

Implements Sensor.

osg::Matrix getPose ( )

virtual

relative pose of the camera

returns the relative pose of the camera

virtual int getSensorNumber ( ) const

pure virtual

overload this function and return the number of sensor values

Implements Sensor.

Implemented in PositionCameraSensor, OpticalFlow, and DirectCameraSensor.

void init	(	Primitive *	own,
		Joint *	joint = `0`
	)

virtual

this function initialized the camera (no need to overload) (Sensor interface)

Implements Sensor.

virtual void intern_init ( )

protectedpure virtual

overload this function to initialized you data structures.

Use camera->getImage() to get the image from the camera

Implemented in PositionCameraSensor, OpticalFlow, and DirectCameraSensor.

virtual bool sense ( const GlobalData & globaldata )

pure virtual

overload this function an process the image (use camera->getImage())

Implements Sensor.

Implemented in MotionCameraSensor, PositionCameraSensor, OpticalFlow, and DirectCameraSensor.

void setInitData	(	Camera *	camera,
		const OdeHandle &	odeHandle,
		const OsgHandle &	osgHandle,
		const osg::Matrix &	pose
	)

virtual

sets the initial data structures like the camera.

The camera will be initialized in init() (don't initialize it before).

Parameters

pose	position and orientation of camera wrt. the primitive that is given at init()

void setPose ( const osg::Matrix & pose )

virtual

changes the relative pose of the camera

void update ( )

virtual

we update the camera's visual appearance

Reimplemented from Sensor.

Member Data Documentation

Camera* camera

protected

bool isInitDataSet

protected

OdeHandle odeHandle

protected

OsgHandle osgHandle

protected

osg::Matrix pose

protected

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

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation