Class for a contact sensor. More...

#include <contactsensor.h>

Inheritance diagram for ContactSensor:

Collaboration diagram for ContactSensor:

Public Member Functions
	ContactSensor (bool binary=true, double forcescale=1, double radius=0.05, bool createSphere=false, bool colorObject=true, Color contactColor=Color(-1,-1,-1))

virtual	~ContactSensor ()

virtual double	get ()
	returns the sensor value in the range >=0; 0 means nothing no contact >0 means contact with another object: size is the force in arbitrary unit More...

virtual void	init (Primitive own, Joint joint=0) override
	initialises sensor with a body of robot and optionally with a joint. More...

virtual int	getSensorNumber () const
	returns the number of sensors values produced by this sensor More...

virtual bool	sense (const GlobalData &globaldata) override
	performs sense action More...

virtual int	get (sensor *sensors, int length) const override
	writes the sensor values (usually in the range [-1,1] ) into the given sensor array and returns the number of sensors written. More...

virtual std::list< sensor >	getList () const override
	returns a list of sensor values (usually in the range [-1,1] ) This function should be overloaded. More...

virtual void	update () override
	to update any visual appearance More...

virtual void	setDepth (float depth, long int time)

Transform *	getTransformObject ()

Public Member Functions inherited from PhysicalSensor
	PhysicalSensor ()

virtual	~PhysicalSensor ()

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

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

virtual osg::Matrix	getPose ()
	relative pose of the sensor 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 Attributes
bool	binary
	if contact sensor is a switch More...

double	forcescale

double	detection
	currently detected value More...

double	value
	actual sensor value More...

double	lastvalue
	last value More...

double	size
	size of graphical sensor More...

long int	lasttimeasked

Primitive *	reference
	primitive to which the sensor is bound More...

Sphere *	sensorBody

Transform *	transform

bool	createSphere

bool	colorObject

Color	origColor

Color	touchColor

bool	initialised

Protected Attributes inherited from PhysicalSensor
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 for a contact sensor.

The sensor is on if a collision occurs and stores the penetration depth (as a crude measure for the colission force). It can be either attached to an existing primitive (e.g. a leg) or create its own sensor object. The latter is recommended if you want very localized force sensors. The information of a collision comes to the sensor via the collision callback of the substance used for the primitive. The sensor returns the maximum forces since the last sense() call.

Constructor & Destructor Documentation

ContactSensor	(	bool	binary = `true`,
		double	forcescale = `1`,
		double	radius = `0.05`,
		bool	createSphere = `false`,
		bool	colorObject = `true`,
		Color	contactColor = `Color(-1,-1,-1)`
	)

Parameters

binary	if true then the sensor is 0 or 1 (for contact), no force value returned
forcescale	scale of the measured collision force (default: 1)
size	size of little sphere representing the sensor (if it has an own body) (default: 0.05)
createSphere	if true then a little sphere is created otherwise the reference body is directly used
colorObject	if true then the object (sphere or reference) is colored according to contact state
contactColor	color if contact sensor values is 1. In between it is blend with original color. If a channel is negative: use original color and invert those channels that are negative. (default: (-1,-1,-1) : invert all channels)

~ContactSensor ( )

virtual

Member Function Documentation

double get ( )

virtual

returns the sensor value in the range >=0; 0 means nothing no contact >0 means contact with another object: size is the force in arbitrary unit

See Also: characteritic()

int get	(	sensor *	sensors,
		int	length
	)		const

overridevirtual

writes the sensor values (usually in the range [-1,1] ) into the given sensor array and returns the number of sensors written.

A default implementation based on get() is provided. Only if performance matters overwrite this function.

Parameters

sensors	call by refernce array which received the values
length	capacity of sensors array

Returns: number of sensor values written

Reimplemented from Sensor.

std::list< sensor > getList ( ) const

overridevirtual

returns a list of sensor values (usually in the range [-1,1] ) This function should be overloaded.

If performance matters, implement get(double*, int) and use getListOfArray to implement this.

Implements Sensor.

virtual int getSensorNumber ( ) const

inlinevirtual

returns the number of sensors values produced by this sensor

Implements Sensor.

Transform * getTransformObject ( )

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

overridevirtual

initialises sensor with a body of robot and optionally with a joint.

This is usually done by the robot itself (or using the Attachment())

Implements Sensor.

bool sense ( const GlobalData & globaldata )

overridevirtual

performs sense action

Implements Sensor.

void setDepth	(	float	depth,
		long int	time
	)

virtual

void update ( )

overridevirtual

to update any visual appearance

Reimplemented from Sensor.

Member Data Documentation

bool binary

protected

if contact sensor is a switch

bool colorObject

protected

bool createSphere

protected

double detection

protected

currently detected value

double forcescale

protected

bool initialised

protected

long int lasttimeasked

protected

double lastvalue

protected

last value

Color origColor

protected

Primitive* reference

protected

primitive to which the sensor is bound

Sphere* sensorBody

protected

double size

protected

size of graphical sensor

Color touchColor

protected

Transform* transform

protected

double value

protected

actual sensor value

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

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation