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Robot Simulator of the Robotics Group for Self-Organization of Control
0.8.0
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Robot Simulator of the Robotics Group for Self-Organization of Control
0.8.0
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Class representing a range finder. More...
#include <rangeFinder.h>
Public Member Functions | |
| RangeFinder () | |
| virtual void | init (Primitive *own, Joint *joint=0) override |
| initialises sensor with a body of robot and optionally with a joint. More... | |
| virtual void | registerSensorRange (int numBeams, double startAngle, double endAngle, double maxRange, double height, RaySensor::rayDrawMode drawMode=RaySensor::drawRay) |
| Register equidistant IR sensor in a given angular range. More... | |
 Public Member Functions inherited from RaySensorBank | |
| RaySensorBank () | |
| virtual | ~RaySensorBank () |
| virtual void | setInitData (const OdeHandle &odeHandle, const OsgHandle &osgHandle, const osg::Matrix &pose) override |
| sets the initial data structures More... | |
| virtual int | getSensorNumber () const override |
| returns the number of sensors values produced by this sensor More... | |
| virtual bool | sense (const GlobalData &globaldata) override |
| performs sense action More... | |
| virtual int | get (sensor *sensors, int length) const override |
| writes the sensor values (usually in the range [-1,1] ) into the given sensor array and returns the number of sensors written. More... | |
| virtual std::list< sensor > | getList () const override |
| returns a list of sensor values (usually in the range [-1,1] ) This function should be overloaded. More... | |
| virtual void | update () override |
| to update any visual appearance More... | |
| virtual unsigned int | registerSensor (RaySensor *raysensor, Primitive *body, const osg::Matrix &pose, float range, RaySensor::rayDrawMode drawMode) |
| registers a new sensor at the sensor bank. More... | |
| virtual int | size () |
| returns the number of sensors More... | |
| virtual void | setRange (unsigned int index, float range) |
| set the range of the specified sensor (index) More... | |
| virtual void | setRange (float range) |
| set the range of all sensors More... | |
| virtual dSpaceID | getSpaceID () |
| returns the spaceID of the sensor space More... | |
| virtual void | clear () |
| virtual bool | isInitialized () |
| Public Member Functions inherited from PhysicalSensor | |
| PhysicalSensor () | |
| virtual | ~PhysicalSensor () |
| virtual void | setPose (const osg::Matrix &pose) |
| changes the relative pose of the sensor More... | |
| virtual osg::Matrix | getPose () |
| relative pose of the sensor More... | |
| Public Member Functions inherited from Sensor | |
| Sensor () | |
| virtual | ~Sensor () |
| virtual std::list < SensorMotorInfo > | getSensorInfos () const |
| returns a list of sensor infos ( 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... | |
Protected Attributes | |
| Primitive * | own |
| Protected Attributes inherited from RaySensorBank | |
| std::vector< RaySensor * > | bank |
| bool | initialized |
| Protected Attributes inherited from PhysicalSensor | |
| OdeHandle | odeHandle |
| OsgHandle | osgHandle |
| osg::Matrix | pose |
| bool | isInitDataSet |
| Protected Attributes inherited from SensorMotorInfoAble | |
| NamingFunction | func |
| SensorMotorInfo | baseinfo |
Additional Inherited Members | |
| 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... | |
| 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... | |
Class representing a range finder.
It consists of several ray sensors. This class is basically an extended (and easier) interface to a RaySensorBank, which allows a more convenient handling of several IR sensors in a given angular range.
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inline |
initialises sensor with a body of robot and optionally with a joint.
This is usually done by the robot itself (or using the Attachment())
Reimplemented from RaySensorBank.
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virtual |
Register equidistant IR sensor in a given angular range.
| numBeams | number of beams of the range finder |
| startAngle | angle of the leftmost beam |
| endAngle | angle of the rightmost beam |
| maxRange | maximum range of the raysensors |
| height | At which height to attach the range finder (0 will attach it to the center of gravity of own) |
| drawMode | Specifies if rays should be drawn or not (default is drawing rays) |
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protected |
1.8.6 
