Class for sensing the axis orienation of a primitive (robot) More...

#include <axisorientationsensor.h>

Inheritance diagram for AxisOrientationSensor:

Collaboration diagram for AxisOrientationSensor:

Public Types
enum	Mode { OnlyZAxis, ZProjection, Axis }
	Sensor mode. More...

Public Types inherited from Sensor
enum	Dimensions { X = 1, Y = 2, Z = 4, XY = X \| Y, XZ = X \| Z, YZ = Y \| Z, XYZ = X \| Y \| Z }
	defines which dimensions should be sensed. The meaning is sensor specific. More...

Public Types inherited from SensorMotorInfoAble
typedef std::function < std::string(int)>	NamingFunction
	function that returns the name given the index More...

Public Member Functions
	AxisOrientationSensor (Mode mode, short dimensions=X\|Y\|Z)

virtual	~AxisOrientationSensor ()

virtual void	init (Primitive own, Joint joint=0)
	initialises sensor with a body of robot and optionally with a joint. More...

virtual int	getSensorNumber () const
	returns the number of sensors values produced by this sensor More...

virtual bool	sense (const GlobalData &globaldata)
	performs sense action More...

virtual std::list< sensor >	getList () const
	returns a list of sensor values (usually in the range [-1,1] ) This function should be overloaded. More...

virtual int	get (sensor *sensors, int length) const
	writes the sensor values (usually in the range [-1,1] ) into the given sensor array and returns the number of sensors written. More...

Public Member Functions inherited from Sensor
	Sensor ()

virtual	~Sensor ()

virtual std::list < SensorMotorInfo >	getSensorInfos () const
	returns a list of sensor infos ( More...

virtual void	update ()
	to update any visual appearance More...

std::list< sensor >	getListOfArray () const
	helper function for performance implementation of list<> get() based on array-get More...

Public Member Functions inherited from SensorMotorInfoAble
	SensorMotorInfoAble ()

void	setBaseName (const std::string &basename)

void	setBaseInfo (const SensorMotorInfo &baseinfo)

SensorMotorInfo	getBaseInfo ()

void	setNamingFunc (const NamingFunction &func)

NamingFunction	getNamingFunc () const

void	setNames (const std::vector< std::string > &names)
	set names explicitly (basename is anyway suffixed) More...

std::string	getName (int index) const
	returns the name of a single item. Typically called from within Sensor and Motor class. More...

std::list< SensorMotorInfo >	getInfos (int number) const
	get all infos. More...

Additional Inherited Members
Static Public Member Functions inherited from Sensor
static std::list< sensor >	selectrows (const matrix::Matrix &m, short dimensions)
	selects the rows specified by dimensions (X->0, Y->1, Z->2) More...

static int	selectrows (sensor *sensors, int length, const matrix::Matrix &m, short dimensions)
	selects the rows specified by dimensions (X->0, Y->1, Z->2) More...

static Dimensions	parseSensorDimension (char *str)

static std::string	dimensions2String (short dimensions)

Static Public Member Functions inherited from SensorMotorInfoAble
static std::string	defaultNameing (int index)
	the default implementation is for index==0: basename, otherwise basename + (index+1) More...

Protected Attributes inherited from SensorMotorInfoAble
NamingFunction	func

SensorMotorInfo	baseinfo

Detailed Description

Class for sensing the axis orienation of a primitive (robot)

Member Enumeration Documentation

enum Mode

Sensor mode.

Enumerator
OnlyZAxis	Z axis (of robot) in word coordinates (relative to body center) (Dimensions select components of this vector)
ZProjection	z-component of each axis (Dimension select components of this vector)
Axis	for each dimension one orienation vector, i.e. for X \| Y \| Z it is a 3x3 rotation matrix

Constructor & Destructor Documentation

AxisOrientationSensor	(	Mode	mode,
		short	dimensions = `X \| Y \| Z`
	)

Parameters

mode	how to measure the axis orientation
dimensions	bit mask for the dimensions to sense. Default: X \| Y \| Z (all dimensions)

See Also: Sensor::Dimensions; Mode

virtual ~AxisOrientationSensor ( )

inlinevirtual

Member Function Documentation

int get	(	sensor *	sensors,
		int	length
	)		const

virtual

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

A default implementation based on get() is provided. Only if 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 > getList ( ) const

virtual

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

If performance matters, implement get(double*, int) and use getListOfArray to implement this.

Implements Sensor.

int getSensorNumber ( ) const

virtual

returns the number of sensors values produced by this sensor

Implements Sensor.

void init	(	Primitive *	own,
		Joint *	joint = `0`
	)

virtual

initialises sensor with a body of robot and optionally with a joint.

This is usually done by the robot itself (or using the Attachment())

Implements Sensor.

bool sense ( const GlobalData & globaldata )

virtual

performs sense action

Implements Sensor.

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

Public Types

Public Member Functions

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation