Class for Ray-based sensors. More...

#include <raysensor.h>

Inheritance diagram for RaySensor:

Collaboration diagram for RaySensor:

Public Types
enum	rayDrawMode { drawNothing, drawRay, drawSensor, drawAll }

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
	RaySensor ()

	RaySensor (double size, double range, rayDrawMode drawMode)

	~RaySensor ()

virtual RaySensor *	clone () const
	Create a copy of this without initialization. More...

void	setPose (const osg::Matrix &pose) override
	changes the relative pose of the sensor More...

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

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

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...

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

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

virtual void	setRange (double range)
	Set maximum range of ray. More...

virtual void	setDrawMode (rayDrawMode drawMode)
	Set draw mode of ray. More...

void	setLength (double len, long int time)
	Set length of ray (needed for callback) More...

Public Member Functions inherited from PhysicalSensor
	PhysicalSensor ()

virtual	~PhysicalSensor ()

virtual void	setInitData (const OdeHandle &odeHandle, const OsgHandle &osgHandle, const osg::Matrix &pose)
	sets the initial data structures 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 Member Functions
void	defaultInit ()

Protected Attributes
double	size

double	range

rayDrawMode	drawMode

double	len

double	lastlen

double	detection

long	lasttimeasked

OSGCylinder *	sensorBody

Transform *	transform

Ray *	ray

bool	initialised

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
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...

Detailed Description

Class for Ray-based sensors.

This are sensors which are based on distance measurements using the ODE geom class Ray. The sensor value is obtained by collisions. See also RaySensorBank, which is an object for managing multiple ray sensors.

Member Enumeration Documentation

enum rayDrawMode

Enumerator
drawNothing
drawRay
drawSensor
drawAll

Constructor & Destructor Documentation

RaySensor ( )

RaySensor	(	double	size,
		double	range,
		rayDrawMode	drawMode
	)

Parameters

size	size of sensor in simulation
range	maximum range of the Ray sensor
drawMode	draw mode of the sensor

~RaySensor ( )

Member Function Documentation

RaySensor * clone ( ) const

virtual

Create a copy of this without initialization.

void defaultInit ( )

protected

int get	(	sensor *	sensors,
		int	length
	)		const

overridevirtual

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

overridevirtual

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

overridevirtual

returns the number of sensors values produced by this sensor

Implements Sensor.

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

overridevirtual

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 )

overridevirtual

performs sense action

Implements Sensor.

void setDrawMode ( rayDrawMode drawMode )

virtual

Set draw mode of ray.

void setLength	(	double	len,
		long int	time
	)

Set length of ray (needed for callback)

void setPose ( const osg::Matrix & pose )

overridevirtual

changes the relative pose of the sensor

Reimplemented from PhysicalSensor.

void setRange ( double range )

virtual

Set maximum range of ray.

void update ( )

overridevirtual

to update any visual appearance

Reimplemented from Sensor.

Member Data Documentation

double detection

protected

rayDrawMode drawMode

protected

bool initialised

protected

double lastlen

protected

long lasttimeasked

protected

double len

protected

double range

protected

Ray* ray

protected

OSGCylinder* sensorBody

protected

double size

protected

Transform* transform

protected

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

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation