raysensorbank.h

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/***************************************************************************
 *   Copyright (C) 2005-2011 LpzRobots development team                    *
 *    Georg Martius  <georg dot martius at web dot de>                     *
 *    Frank Guettler <guettler at informatik dot uni-leipzig dot de        *
 *    Frank Hesse    <frank at nld dot ds dot mpg dot de>                  *
 *    Ralf Der       <ralfder at mis dot mpg dot de>                       *
 *                                                                         *
 *   This program is free software; you can redistribute it and/or modify  *
 *   it under the terms of the GNU General Public License as published by  *
 *   the Free Software Foundation; either version 2 of the License, or     *
 *   (at your option) any later version.                                   *
 *                                                                         *
 *   This program is distributed in the hope that it will be useful,       *
 *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
 *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
 *   GNU General Public License for more details.                          *
 *                                                                         *
 *   You should have received a copy of the GNU General Public License     *
 *   along with this program; if not, write to the                         *
 *   Free Software Foundation, Inc.,                                       *
 *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
 *                                                                         *
 ***************************************************************************/
#ifndef __RAYSENSORBANK_H
#define __RAYSENSORBANK_H

#include <vector>
#include "raysensor.h"

namespace lpzrobots {

/** Class for a bank (collection) of ray sensors. 
    Ray sensors can be registered at the bank. Methods for resetting, 
    sensing and reading the sensor values of all sensors are provided.
 */
class RaySensorBank {
public:  
  RaySensorBank();

  virtual ~RaySensorBank();

  /** initialises sensor bank with handles for ode and osg
   */
  virtual void init( const OdeHandle& odeHandle, const OsgHandle& osgHandle ); 

  /** registers a new sensor at the sensor bank. The body and the pose have to be provided.
      @param raysensor RaySensor to add
      @param body body to which the sensor should be connected
      @param pose relative position/orientation
      @param range maximum sense range of the sensor
      @return index of the sensor
   */
  virtual unsigned int registerSensor(RaySensor* raysensor, Primitive* body, 
                                      const osg::Matrix& pose, float range,
                                      RaySensor::rayDrawMode drawMode);  

  /** resets all sensors (used for reseting the sensor value to a value of maximal distance) 
   */
  virtual void reset();  

  /// returns the number of sensors
  virtual int size() { return bank.size(); }
  
  /** returns the sensor value of the given sensor (usually in the range [-1,1] )
   */
  virtual double get(unsigned int index);

  /** writes sensorvalues in given sensorarray
      @param sensorarray pointer to the sensorarray in which the values should be stored
      @param array_size maximal number of all elements in the sensorarray
      @return number of written sensorvalues
   */
  virtual int get(double* sensorarray, unsigned int array_size);

  /// returns the number of sensors in the bank
  virtual int getSensorNumber();

  /** set the range of the specified sensor (index)
      @param index index of sensor to modify
      @param range new length of the sensor
  */
  virtual void setRange(unsigned int index, float range);

  /** set the range of all sensors 
      @param range new length of the sensors
  */
  virtual void setRange(float range);
  
  /** returns the spaceID of the sensor space
   */
  virtual dSpaceID getSpaceID();

  /** updates the sensor's graphical representation
   */
  virtual void update();
  
  // delete all registered sensors.
  virtual void clear();

  // returns true if initialized
  virtual bool isInitialized() { return initialized;}

protected:
  std::vector<RaySensor*> bank;
  bool initialized;

  OdeHandle odeHandle;
  OsgHandle osgHandle; 
};

}

#endif