Class for a bank (collection) of ray sensors. More...

#include <raysensorbank.h>

Inheritance diagram for RaySensorBank:

Collaboration diagram for RaySensorBank:

Public Member Functions
	RaySensorBank ()

virtual	~RaySensorBank ()

virtual void	setInitData (const OdeHandle &odeHandle, const OsgHandle &osgHandle, const osg::Matrix &pose) override
	sets the initial data structures More...

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

Detailed Description

Class for a bank (collection) of ray sensors.

Ray sensors can be registered at the bank. Methods for sensing and reading the sensor values of all sensors are provided.

Constructor & Destructor Documentation

RaySensorBank ( )

~RaySensorBank ( )

virtual

Member Function Documentation

void clear ( )

virtual

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.

dSpaceID getSpaceID ( )

virtual

returns the spaceID of the sensor space

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.

Reimplemented in RangeFinder.

virtual bool isInitialized ( )

inlinevirtual

unsigned int registerSensor	(	RaySensor *	raysensor,
		Primitive *	body,
		const osg::Matrix &	pose,
		float	range,
		RaySensor::rayDrawMode	drawMode
	)

virtual

registers a new sensor at the sensor bank.

The body and the pose have to be provided.

Parameters

raysensor	RaySensor to add
body	body to which the sensor should be connected
pose	relative position/orientation
range	maximum sense range of the sensor

Returns: index of the sensor

bool sense ( const GlobalData & globaldata )

overridevirtual

performs sense action

Implements Sensor.

void setInitData	(	const OdeHandle &	odeHandle,
		const OsgHandle &	osgHandle,
		const osg::Matrix &	pose
	)

overridevirtual

sets the initial data structures

Parameters

pose	position and orientation of sensor (e.g. camera) wrt. the primitive that is given at init()

Reimplemented from PhysicalSensor.

void setRange	(	unsigned int	index,
		float	range
	)

virtual

set the range of the specified sensor (index)

Parameters

index	index of sensor to modify
range	new length of the sensor

void setRange ( float range )

virtual

set the range of all sensors

Parameters

range new length of the sensors

virtual int size ( )

inlinevirtual

returns the number of sensors

void update ( )

overridevirtual

to update any visual appearance

Reimplemented from Sensor.

Member Data Documentation

std::vector<RaySensor*> bank

protected

bool initialized

protected

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

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation