RaySensor Class Reference

Abstract class for Ray-based sensors. More...

#include <raysensor.h>

Inherited by IRSensor.

List of all members.

Public Types
enum	rayDrawMode { drawNothing, drawRay, drawSensor, drawAll }
Public Member Functions
	RaySensor ()
virtual	~RaySensor ()
virtual RaySensor *	clone () const =0
virtual void	init (const OdeHandle &odeHandle, const OsgHandle &osgHandle, Primitive *body, const osg::Matrix pose, float range, rayDrawMode drawMode=drawSensor)=0
	providing essential information
virtual void	reset ()=0
	used for reseting the sensor value to a value of maximal distance.
virtual double	get ()=0
	returns the sensor value (usually in the range [-1,1] )
virtual void	setRange (float range)=0
	set the range of the sensor
virtual void	update ()=0
	updates the position of the osg nodes

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Detailed Description

Abstract class for Ray-based sensors.

This are sensors which are based on distance measurements using the ODE geom class Ray. The sensor value is obtained by collisions. However of no collision is detected the sensor needs to ajust its output as well. Therefore a reset function is provided. See also RaySensorBank, which is an object for managing multiple ray sensors.

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Member Enumeration Documentation

enum rayDrawMode

Enumerator:

drawNothing
drawRay
drawSensor
drawAll

Examples:

sphererobot3masses.cpp.

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Constructor & Destructor Documentation

RaySensor

(

)

[inline]

virtual ~RaySensor

(

)

[inline, virtual]

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Member Function Documentation

virtual RaySensor* clone

(

)

const [pure virtual]

Implemented in IRSensor.

virtual double get

(

)

[pure virtual]

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

Implemented in IRSensor.

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

Implemented in IRSensor.

virtual void reset

(

)

[pure virtual]

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

Implemented in IRSensor.

virtual void setRange

(

float

range

)

[pure virtual]

set the range of the sensor

Parameters:

range

new length of the sensor

Implemented in IRSensor.

virtual void update

(

)

[pure virtual]

updates the position of the osg nodes

Implemented in IRSensor.

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

• raysensor.h