RaySensorBank Class Reference

Class for a bank (collection) of ray sensors. More...

#include <raysensorbank.h>

Collaboration diagram for RaySensorBank:

[legend]List of all members.

Public Member Functions
	RaySensorBank ()
virtual	~RaySensorBank ()
virtual void	init (const OdeHandle &odeHandle, const OsgHandle &osgHandle)
	initialises sensor bank with handles for ode and osg
virtual unsigned int	registerSensor (RaySensor *raysensor, Primitive *body, const osg::Matrix &pose, double range, RaySensor::rayDrawMode drawMode)
	registers a new sensor at the sensor bank.
virtual void	reset ()
	resets all sensors (used for reseting the sensor value to a value of maximal distance)
virtual bool	sense (dGeomID object)
	performs sense action of all sensors by checking collision with the given object
virtual double	get (unsigned int index)
	returns the sensor value of the given sensor (usually in the range [-1,1] )
virtual int	get (double *sensorarray, unsigned int array_size)
	writes sensorvalues in given sensorarray
virtual void	setRange (unsigned int index, double range)
	set the range of the specified sensor (index)
virtual void	setRange (double range)
	set the range of all sensors
virtual dSpaceID	getSpaceID ()
	returns the spaceID of the sensor space
virtual void	update ()
	updates the sensor's graphical representation
virtual void	clear ()
Protected Attributes
std::vector< RaySensor * >	bank
bool	initialized
OdeHandle	odeHandle
OsgHandle	osgHandle

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Detailed Description

Class for a bank (collection) of ray sensors.

Ray sensors can be registered at the bank. Methods for resetting, sensing and reading the sensor values of all sensors are provided.

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Constructor & Destructor Documentation

RaySensorBank (   )

~RaySensorBank (   )  [virtual]

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Member Function Documentation

void clear (   )  [virtual]

int get (  double *  sensorarray, unsigned int  array_size )  [virtual]

writes sensorvalues in given sensorarray Parameters: sensorarray  pointer to the sensorarray in which the values should be stored array_size  maximal number of all elements in the sensorarray Returns: number of written sensorvalues

double get (  unsigned int  index  )  [virtual]

returns the sensor value of the given sensor (usually in the range [-1,1] )

dSpaceID getSpaceID (   )  [virtual]

returns the spaceID of the sensor space

void init (  const OdeHandle &  odeHandle, const OsgHandle &  osgHandle )  [virtual]

initialises sensor bank with handles for ode and osg

unsigned int registerSensor (  RaySensor *  raysensor, Primitive *  body, const osg::Matrix &  pose, double  range, RaySensor::rayDrawMode  drawMode )  [virtual]

registers a new sensor at the sensor bank. The body and the pose have to be provided. Parameters: raysensor  RaySensor to add body  body to which the sensor should be connected pose  relative position/orientation range  maximum sense range of the sensor Returns: index of the sensor

void reset (   )  [virtual]

resets all sensors (used for reseting the sensor value to a value of maximal distance)

bool sense (  dGeomID  object  )  [virtual]

performs sense action of all sensors by checking collision with the given object Returns: true for any collision handled (sensed) and false for no interaction

void setRange (  double  range  )  [virtual]

set the range of all sensors Parameters: range  new length of the sensors

void setRange (  unsigned int  index, double  range )  [virtual]

set the range of the specified sensor (index) Parameters: index  index of sensor to modify range  new length of the sensor

void update (   )  [virtual]

updates the sensor's graphical representation

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Member Data Documentation

std::vector<RaySensor*> bank [protected]

bool initialized [protected]

OdeHandle odeHandle [protected]

OsgHandle osgHandle [protected]

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

• raysensorbank.h
• raysensorbank.cpp

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