SpeedSensor Class Reference

Class for speed sensing of robots. More...

#include <speedsensor.h>

Inheritance diagram for SpeedSensor:

Collaboration diagram for SpeedSensor:

Public Types
enum	Mode { Translational, TranslationalRel, Rotational, RotationalRel }
	Sensor mode. More...
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...

Public Member Functions
	SpeedSensor (double maxSpeed, Mode mode=Translational, short dimensions=X|Y|Z)
virtual	~SpeedSensor ()
virtual void	init (Primitive *own, Joint *joint=0)
	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)
	performs sense action More...
virtual std::list< sensor >	getList () const
	returns a list of sensor values (usually in the range [-1,1] ) This function should be overloaded. 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...
Public Member Functions inherited from Sensor
	Sensor ()
virtual	~Sensor ()
virtual std::list < SensorMotorInfo >	getSensorInfos () const
	returns a list of sensor infos ( More...
virtual void	update ()
	to update any visual appearance 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
matrix::Matrix	getSenseMatrix () const

Protected Attributes
double	maxSpeed
Mode	mode
short	dimensions
Primitive *	own
Protected Attributes inherited from SensorMotorInfoAble
NamingFunction	func
SensorMotorInfo	baseinfo

Additional Inherited Members
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 speed sensing of robots.

The sensor values are normalised speeds, either translational or rotational

Member Enumeration Documentation

enum Mode

Sensor mode.

Enumerator
Translational	measures translational speed in world coordinates (Linear velocity)
TranslationalRel	measures translational speed in body coordinates (Linear velocity)
Rotational	measures roational velocity around the world axis
RotationalRel	measures roational velocity around the body axis

Constructor & Destructor Documentation

SpeedSensor	(	double	maxSpeed,
		Mode	mode = Translational,
		short	dimensions = X | Y | Z
	)

Parameters

maxSpeed	maximal speed that is expected used for normalisation of sensor value
dimensions	bit mask for the dimensions to sense. Default: X | Y | Z (all dimensions)

See Also

Dimensions

virtual ~SpeedSensor ( )

inlinevirtual

Member Function Documentation

int get ( sensor *  sensors, int  length  ) const

virtual

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

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.

Implements Sensor.

Matrix getSenseMatrix ( ) const

protected

int getSensorNumber ( ) const

virtual

returns the number of sensors values produced by this sensor

Implements Sensor.

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

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())

Implements Sensor.

bool sense ( const GlobalData &  globaldata )

virtual

performs sense action

Implements Sensor.

Member Data Documentation

short dimensions

protected

double maxSpeed

protected

Mode mode

protected

Primitive* own

protected

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

• speedsensor.h
• speedsensor.cpp