RelativePositionSensor Class Reference

Class for relative (or absolute) position sensing. More...

#include <relativepositionsensor.h>

Inheritance diagram for RelativePositionSensor:

Collaboration diagram for RelativePositionSensor:

Public Member Functions
	RelativePositionSensor (double maxDistance, double exponent, short dimensions=X|Y|Z, bool local_coordinates=false)
virtual	~RelativePositionSensor ()
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 void	setReference (Primitive *ref)
	Sets the reference object we use for relative position measureing. 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...
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...
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
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...
Protected Attributes inherited from SensorMotorInfoAble
NamingFunction	func
SensorMotorInfo	baseinfo

Detailed Description

Class for relative (or absolute) position sensing.

The sensor values are the normalised relative position to some given object ( setReference() ) or the origin.

Constructor & Destructor Documentation

RelativePositionSensor	(	double	maxDistance,
		double	exponent,
		short	dimensions = X | Y | Z,
		bool	local_coordinates = false
	)

Parameters

maxDistance	maximal distance that is expected used for normalisation of sensor value
exponent	exponent of the sensor characteritic (default: 1 (linear))
dimensions	bit mask for the dimensions to sense. Default: X | Y | Z (all dimensions)

See Also

Dimensions If exact (relative) positions should be produced, use maxDistance=1 and exponent=1

virtual ~RelativePositionSensor ( )

inlinevirtual

Member Function Documentation

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.

void setReference ( Primitive *  ref )

virtual

Sets the reference object we use for relative position measureing.

If not set or 0 then the origin is used. This can be another robot an obstacle (light source) and such like This must be called before first sense() or get() call.

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

• relativepositionsensor.h
• relativepositionsensor.cpp