Abstract class for sensors that can be plugged into a robot. More...

#include <sensor.h>

Inheritance diagram for Sensor:

Collaboration diagram for Sensor:

Public Types
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...

Public Member Functions
	Sensor ()

virtual	~Sensor ()

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

virtual bool	sense (const GlobalData &globaldata)=0
	performs sense action More...

virtual int	getSensorNumber () const =0
	returns the number of sensors values produced by this sensor More...

virtual std::list< sensor >	getList () const =0
	returns a list of sensor values (usually in the range [-1,1] ) This function should be overloaded. More...

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

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

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

Static Public Member Functions
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...

Additional Inherited Members
Protected Attributes inherited from SensorMotorInfoAble
NamingFunction	func

SensorMotorInfo	baseinfo

Detailed Description

Abstract class for sensors that can be plugged into a robot.

Member Enumeration Documentation

enum Dimensions

defines which dimensions should be sensed. The meaning is sensor specific.

Enumerator
X
Y
Z
XY
XZ
YZ
XYZ

Constructor & Destructor Documentation

Sensor ( )

inline

virtual ~Sensor ( )

inlinevirtual

Member Function Documentation

static std::string dimensions2String ( short dimensions )

inlinestatic

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

inlinevirtual

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 in PositionCameraSensor, OpticalFlow, TwoAxisServo, DirectCameraSensor, OneAxisServo, RaySensor, ContactSensor, CameraSensor, SoundSensor, AxisOrientationSensor, SpeedSensor, AngularMotor, TorqueSensor, IRSensor, and RaySensorBank.

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

pure virtual

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.

Implemented in TwoAxisServo, CameraSensor, RaySensor, ContactSensor, OneAxisServo, SoundSensor, AxisOrientationSensor, SpeedSensor, IRSensor, AngularMotor, RaySensorBank, TorqueSensor, RelativePositionSensor, and DerivativeSensor.

std::list<sensor> getListOfArray ( ) const

inline

helper function for performance implementation of list<> get() based on array-get

virtual std::list<SensorMotorInfo> getSensorInfos ( ) const

inlinevirtual

returns a list of sensor infos (

See Also: SensorMotorInfoAble how to change the names etc)

virtual int getSensorNumber ( ) const

pure virtual

returns the number of sensors values produced by this sensor

Implemented in PositionCameraSensor, OpticalFlow, TwoAxisServo, RaySensor, DirectCameraSensor, OneAxisServo, CameraSensor, ContactSensor, SoundSensor, AxisOrientationSensor, SpeedSensor, AngularMotor, TorqueSensor, RaySensorBank, RelativePositionSensor, and DerivativeSensor.

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

pure virtual

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

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

Implemented in TwoAxisServoVel, AngularMotorNAxis, OneAxisServoVel, AngularMotor3AxisEuler, AngularMotor2Axis, AngularMotor1Axis, TwoAxisServo, RaySensor, ContactSensor, CameraSensor, OneAxisServo, SoundSensor, AxisOrientationSensor, SpeedSensor, TorqueSensor, AngularMotor, RaySensorBank, RelativePositionSensor, RangeFinder, and DerivativeSensor.

static Dimensions parseSensorDimension ( char * str )

inlinestatic

static std::list<sensor> selectrows	(	const matrix::Matrix &	m,
		short	dimensions
	)

inlinestatic

selects the rows specified by dimensions (X->0, Y->1, Z->2)

static int selectrows	(	sensor *	sensors,
		int	length,
		const matrix::Matrix &	m,
		short	dimensions
	)

inlinestatic

selects the rows specified by dimensions (X->0, Y->1, Z->2)

virtual bool sense ( const GlobalData & globaldata )

pure virtual

performs sense action

Implemented in MotionCameraSensor, PositionCameraSensor, OpticalFlow, TwoAxisServo, RaySensor, ContactSensor, OneAxisServo, CameraSensor, DirectCameraSensor, SoundSensor, AxisOrientationSensor, SpeedSensor, TorqueSensor, IRSensor, RaySensorBank, AngularMotor, RelativePositionSensor, and DerivativeSensor.

virtual void update ( )

inlinevirtual

to update any visual appearance

Reimplemented in RaySensor, ContactSensor, CameraSensor, and RaySensorBank.

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

sensor.h

Public Types

Public Member Functions

Static Public Member Functions

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation