Class for IR sensors. More...

#include <irsensor.h>

Inheritance diagram for IRSensor:

Collaboration diagram for IRSensor:

Public Member Functions
	IRSensor (double exponent=1, double size=0.05, double range=2, rayDrawMode drawMode=drawSensor)

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 double	getValue ()

virtual double	getExponent () const
	returns the exponent of the sensor characteritic (default: 1 (linear)) More...

virtual void	setExponent (double exp)
	sets the exponent of the sensor characteritic (default: 1 (linear)) More...

Public Member Functions inherited from RaySensor
	RaySensor ()

	RaySensor (double size, double range, rayDrawMode drawMode)

	~RaySensor ()

virtual RaySensor *	clone () const
	Create a copy of this without initialization. More...

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

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

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

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...

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

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

virtual void	setRange (double range)
	Set maximum range of ray. More...

virtual void	setDrawMode (rayDrawMode drawMode)
	Set draw mode of ray. More...

void	setLength (double len, long int time)
	Set length of ray (needed for callback) More...

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 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 Member Functions
virtual double	characteritic (double len)
	describes the sensor characteritic An exponential curve is used. More...

Protected Member Functions inherited from RaySensor
void	defaultInit ()

Protected Attributes
double	exponent

double	value

Protected Attributes inherited from RaySensor
double	size

double	range

rayDrawMode	drawMode

double	len

double	lastlen

double	detection

long	lasttimeasked

OSGCylinder *	sensorBody

Transform *	transform

Ray *	ray

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 RaySensor
enum	rayDrawMode { drawNothing, drawRay, drawSensor, drawAll }

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 IR sensors.

IR sensors are based on distance measurements using the ODE geom class Ray. The sensor value is obtained by collisions, which are handled by the simulation environement. The information of a collision comes to the sensor via the collision callback of the substance used for the ray (actually for the transform). If no collision is detected the value should be zero, so that a stamp is used. The length measured in this way is modified by the 'characteristic' of the IR sensor

Constructor & Destructor Documentation

IRSensor	(	double	exponent = `1`,
		double	size = `0.05`,
		double	range = `2`,
		rayDrawMode	drawMode = `drawSensor`
	)

Parameters

exponent	exponent of the sensor characteritic (default: 1 (linear))
size	size of sensor in simulation
range	maximum range of the IR sensor
drawMode	draw mode of the sensor

Member Function Documentation

double characteritic ( double len )

protectedvirtual

describes the sensor characteritic An exponential curve is used.

See Also: setExponent()

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.

virtual double getExponent ( ) const

inlinevirtual

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

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.

double getValue ( )

virtual

bool sense ( const GlobalData & globaldata )

overridevirtual

performs sense action

Implements Sensor.

virtual void setExponent ( double exp )

inlinevirtual

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

Member Data Documentation

double exponent

protected

double value

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