Robot Simulator of the Robotics Group for Self-Organization of Control  0.8.0
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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< sensorgetList () 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< sensorgetListOfArray () 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< SensorMotorInfogetInfos (int number) const
 get all infos. More...
 

Protected Member Functions

matrix::Matrix getSenseMatrix () const
 

Protected Attributes

double maxSpeed
 
Mode mode
 
short dimensions
 
Primitiveown
 
- Protected Attributes inherited from SensorMotorInfoAble
NamingFunction func
 
SensorMotorInfo baseinfo
 

Additional Inherited Members

- Static Public Member Functions inherited from Sensor
static std::list< sensorselectrows (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
maxSpeedmaximal speed that is expected used for normalisation of sensor value
dimensionsbit 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
sensorscall by refernce array which received the values
lengthcapacity 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

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