SpeedSensor Class Reference

Class for speed sensing of robots. More...

#include <speedsensor.h>

Inherits lpzrobots::Sensor.

Collaboration diagram for SpeedSensor:

[legend]

List of all members.

Public Types
enum	Mode { Translational, TranslationalRel, Rotational, RotationalRel }
	Sensor mode. More...
Public Member Functions
	SpeedSensor (double maxSpeed, Mode mode=Translational, short dimensions=X|Y|Z)
virtual	~SpeedSensor ()
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.
Protected Member Functions
matrix::Matrix	getSenseMatrix () const
Protected Attributes
double	maxSpeed
Mode	mode
short	dimensions
Primitive *	own

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Detailed Description

Class for speed sensing of robots.

The sensor values are normalised speeds, either translational or rotational

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Member Enumeration Documentation

enum Mode

Sensor mode.

Enumerator:

Translational	measures translational speed in world coordinates (Linear velocity)
TranslationalRel	measures translational speed in body coordinates (Linear velocity)
Rotational	measures roational velocity around the world axis
RotationalRel	measures roational velocity around the body axis

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Constructor & Destructor Documentation

SpeedSensor	(	double	maxSpeed,
		Mode	mode = Translational,
		short	dimensions = X | Y | Z
	)

Parameters:

	maxSpeed	maximal speed that is expected used for normalisation of sensor value
	dimensions	bit mask for the dimensions to sense. Default: X | Y | Z (all dimensions)

See also:

Dimensions

virtual ~SpeedSensor

(

)

[inline, virtual]

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Member Function Documentation

int get	(	sensor *	sensors,
		int	length
	)			const [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

Returns:

number of sensor values written

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.

Matrix getSenseMatrix

(

)

const [protected]

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.

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Member Data Documentation

short dimensions [protected]

double maxSpeed [protected]

Mode mode [protected]

Primitive* own [protected]

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

• speedsensor.h
• speedsensor.cpp