RelativePositionSensor Class Reference

Class for relative position sensing. More...

Collaboration diagram for RelativePositionSensor:

Public Member Functions
	RelativePositionSensor (double maxDistance, double exponent, short dimensions=X\|Y\|Z, bool local_coordinates=false)
virtual	~RelativePositionSensor ()
virtual void	init (Primitive *own)
	initialises sensor with body of robot.
virtual int	getSensorNumber () const
	returns the number of sensors values produced by this sensor
virtual bool	sense (const GlobalData &globaldata)
	performs sense action
virtual std::list< sensor >	get () const
	returns a list of sensor values (usually in the range [0,1] ) This function should be overloaded.
virtual int	get (sensor *sensors, int length) const
	writes the sensor values (usually in the range [0,1] ) into the given sensor array and returns the number of sensors written.
virtual void	setReference (Primitive *ref)
	Sets the reference object we use for relative position measureing.

Detailed Description

Class for relative position sensing.

The sensor values are the normalised relative position to some given object ( setReference() )

Parameters:

	maxDistance	maximal distance that is expected used for normalisation of sensor value
	exponent	exponent of the sensor characteritic (default: 1 (linear))
	dimensions	bit mask for the dimensions to sense. Default: X \| Y \| Z (all dimensions)

virtual ~RelativePositionSensor ( ) [inline, virtual]

writes the sensor values (usually in the range [0,1] ) into the given sensor array and returns the number of sensors written.

A default implementation based on get() is provided. Only of performance matters overwrite this function.

Parameters:

	sensors	call by refernce array which received the values
	length	capacity of sensors array

Reimplemented from Sensor.

std::list< sensor > get ( ) const [virtual]

returns a list of sensor values (usually in the range [0,1] ) This function should be overloaded.

Implements Sensor.

int getSensorNumber ( ) const [virtual]

returns the number of sensors values produced by this sensor

Implements Sensor.

void init ( Primitive * own ) [virtual]

initialises sensor with body of robot.

This is usually done by the robot itself.

Implements Sensor.

bool sense ( const GlobalData & globaldata ) [virtual]

performs sense action

Implements Sensor.

void setReference ( Primitive * ref ) [virtual]

Sets the reference object we use for relative position measureing.

This can be another robot an obstacle (light source) and such like This must be called before first sense() or get() call.

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