ContactSensor Class Reference

Class for a contact sensor. More...

#include <contactsensor.h>

Collaboration diagram for ContactSensor:

[legend]

List of all members.

Public Member Functions
	ContactSensor (bool binary=true, double forcescale=1, double radius=0.05)
virtual	~ContactSensor ()
virtual void	init (const OdeHandle &odeHandle, const OsgHandle &osgHandle, Primitive *reference, bool createSphere=false, const osg::Matrix pose=osg::Matrix(), bool colorObject=true)
virtual void	reset ()
virtual double	get ()
	returns the sensor value in the range >=0; 0 means nothing no contact >0 means contact with another object: size is the force in arbitrary unit
virtual void	update ()
virtual void	setDepth (float depth)
Transform *	getTransformObject ()
Protected Attributes
bool	binary
	if contact sensor is a switch
double	forcescale
double	value
	actual sensor value
double	lastvalue
	last value
double	size
	size of graphical sensor
Primitive *	reference
	primitive to which the sensor is bound
Sphere *	sensorBody
Transform *	transform
bool	colorObject
Color	origColor
bool	initialised

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Detailed Description

Class for a contact sensor.

The sensor is on if a collision occurs and stores the penetration depth (as a crude measure for the colission force). It can be either attached to an existing primitive (e.g. a leg) or create its own sensor object. The latter is recommended if you want very localized force sensors. The information of a collision comes to the sensor via the collision callback of the substance used for the primitive. However of no collision is detected the sensor needs to ajust its output as well. Therefore a reset function is provided.

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Constructor & Destructor Documentation

ContactSensor	(	bool	binary = true,
		double	forcescale = 1,
		double	radius = 0.05
	)

Parameters:

	binary	if true then the sensor is 0 or 1 (for contact), no force value returned
	forcescale	scale of the measured collision force (default: 1)
	size	size of little box representing the sensor (if it has an own body) (default: 0.05)

~ContactSensor

(

)

[virtual]

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Member Function Documentation

double get

(

)

[virtual]

returns the sensor value in the range >=0; 0 means nothing no contact >0 means contact with another object: size is the force in arbitrary unit

See also:

characteritic()

Transform * getTransformObject

(

)

void init	(	const OdeHandle &	odeHandle,
		const OsgHandle &	osgHandle,
		Primitive *	reference,
		bool	createSphere = false,
		const osg::Matrix	pose = osg::Matrix(),
		bool	colorObject = true
	)			[virtual]

void reset

(

)

[virtual]

void setDepth

(

float

depth

)

[virtual]

void update

(

)

[virtual]

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Member Data Documentation

bool binary [protected]

if contact sensor is a switch

bool colorObject [protected]

double forcescale [protected]

bool initialised [protected]

double lastvalue [protected]

last value

Color origColor [protected]

Primitive* reference [protected]

primitive to which the sensor is bound

Sphere* sensorBody [protected]

double size [protected]

size of graphical sensor

Transform* transform [protected]

double value [protected]

actual sensor value

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

• contactsensor.h
• contactsensor.cpp