IRSensor Class Reference

Class for IR sensors. More...

#include <irsensor.h>

Inherits lpzrobots::RaySensor.

Collaboration diagram for IRSensor:

[legend]

List of all members.

Public Member Functions
	IRSensor (float exponent=1, double size=0.05)
virtual	~IRSensor ()
virtual void	init (const OdeHandle &odeHandle, const OsgHandle &osgHandle, Primitive *body, const osg::Matrix pose, float range, rayDrawMode drawMode=drawSensor)
	providing essential information
virtual void	reset ()
	used for reseting the sensor value to a value of maximal distance.
virtual double	get ()
	returns the sensor value in the range [0,1]; 0 means nothing no object in the sensor distance range 1 means contact with another object
virtual void	update ()
	updates the position of the osg nodes
virtual void	setRange (float range)
	set the range of the sensor
virtual void	setLength (float len)
virtual RaySensor *	clone () const
double	getExponent () const
	returns the exponent of the sensor characteritic (default: 1 (linear))
void	setExponent (float exp)
	sets the exponent of the sensor characteritic (default: 1 (linear))
Protected Member Functions
virtual float	characteritic (float len)
	describes the sensor characteritic An exponential curve is used.
Protected Attributes
float	range
float	len
float	value
float	lastvalue
float	exponent
double	size
OSGCylinder *	sensorBody
OsgHandle	osgHandle
Transform *	transform
Ray *	ray
bool	initialised

---

Detailed Description

Class for IR sensors.

IR sensors are based on distance measurements using the ODE geom class Ray. The sensor value is obtained by collisions, which are handled by the simulation environement. The information of a collision comes to the sensor via the collision callback of the substance used for the ray (actually for the transform). 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

IRSensor	(	float	exponent = 1,
		double	size = 0.05
	)

Parameters:

exponent

exponent of the sensor characteritic (default: 1 (linear))

~IRSensor

(

)

[virtual]

---

Member Function Documentation

float characteritic

(

float

len

)

[protected, virtual]

describes the sensor characteritic An exponential curve is used.

See also:

setExponent()

RaySensor * clone

(

)

const [virtual]

Implements RaySensor.

double get

(

)

[virtual]

returns the sensor value in the range [0,1]; 0 means nothing no object in the sensor distance range 1 means contact with another object

See also:

characteritic()

Implements RaySensor.

double getExponent

(

)

const [inline]

returns the exponent of the sensor characteritic (default: 1 (linear))

void init	(	const OdeHandle &	odeHandle,
		const OsgHandle &	osgHandle,
		Primitive *	body,
		const osg::Matrix	pose,
		float	range,
		rayDrawMode	drawMode = drawSensor
	)			[virtual]

providing essential information

Parameters:

	odeHandle	OdeHandle
	osgHandle	OsgHandle
	body	primitive to which the sensor will be attached
	pose	relative pose in respect to body in which the sensor will be placed
	range	length of the sensor
	drawMode	whether to draw nothing, sensor body, ray, or both

Implements RaySensor.

void reset

(

)

[virtual]

used for reseting the sensor value to a value of maximal distance.

Implements RaySensor.

void setExponent

(

float

exp

)

[inline]

sets the exponent of the sensor characteritic (default: 1 (linear))

void setLength

(

float

len

)

[virtual]

void setRange

(

float

range

)

[virtual]

set the range of the sensor

Parameters:

range

new length of the sensor

Implements RaySensor.

void update

(

)

[virtual]

updates the position of the osg nodes

Implements RaySensor.

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Member Data Documentation

float exponent [protected]

bool initialised [protected]

float lastvalue [protected]

float len [protected]

OsgHandle osgHandle [protected]

float range [protected]

Ray* ray [protected]

OSGCylinder* sensorBody [protected]

double size [protected]

Transform* transform [protected]

float value [protected]

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

• irsensor.h
• irsensor.cpp