RaySensor Class Reference

#include <raysensor.h>

Inheritance diagram for RaySensor:

[legend]List of all members.

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Detailed Description

Abstract 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. However of no collision is detected the sensor needs to ajust its output as well. Therefore a reset function is provided.

Definition at line 61 of file raysensor.h.

Public Types
enum	rayDrawMode { drawNothing, drawRay, drawSensor, drawAll }
Public Member Functions
	RaySensor ()
virtual	~RaySensor ()
virtual void	init (const OdeHandle &odeHandle, const OsgHandle &osgHandle, Primitive *body, const osg::Matrix pose, double range, rayDrawMode drawMode=drawSensor)=0
	providing essential information
virtual void	reset ()=0
	used for reseting the sensor value to a value of maximal distance.
virtual bool	sense (dGeomID object)=0
	performs sense action by checking collision with the given object
virtual double	get ()=0
	returns the sensor value (usually in the range [-1,1] )
virtual void	update ()=0
	updates the position of the osg nodes
virtual dGeomID	getGeomID ()=0
	returns the geomID of the ray geom (used for optimisation)

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Member Enumeration Documentation

enum rayDrawMode

Enumerator: drawNothing  drawRay  drawSensor  drawAll  Definition at line 63 of file raysensor.h.

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Constructor & Destructor Documentation

RaySensor (   )  [inline]

Definition at line 65 of file raysensor.h.

virtual ~RaySensor (   )  [inline, virtual]

Definition at line 66 of file raysensor.h.

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Member Function Documentation

virtual double get (   )  [pure virtual]

returns the sensor value (usually in the range [-1,1] ) Implemented in IRSensor.

virtual dGeomID getGeomID (   )  [pure virtual]

returns the geomID of the ray geom (used for optimisation) Implemented in IRSensor.

virtual void init (  const OdeHandle &  odeHandle, const OsgHandle &  osgHandle, Primitive *  body, const osg::Matrix  pose, double  range, rayDrawMode  drawMode = drawSensor )  [pure virtual]

providing essential information

virtual void reset (   )  [pure virtual]

used for reseting the sensor value to a value of maximal distance. Implemented in IRSensor.

virtual bool sense (  dGeomID  object  )  [pure virtual]

performs sense action by checking collision with the given object Returns: true for collision handled (sensed) and false for no interaction Implemented in IRSensor.

virtual void update (   )  [pure virtual]

updates the position of the osg nodes Implemented in IRSensor.

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