RaySensorBank Class Reference

#include <raysensorbank.h>

Collaboration diagram for RaySensorBank:

[legend]List of all members.

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Detailed Description

Class for a bank of ray sensors.

Ray sensors can be registered at the bank. Methods for resetting, sensing and reading the sensorvalues of all sensors are provided.

Definition at line 55 of file raysensorbank.h.

Public Member Functions
	RaySensorBank ()
virtual	~RaySensorBank ()
virtual void	init (const OdeHandle &odeHandle, const OsgHandle &osgHandle)
	initialises sensor bank with handles for ode and osg
virtual unsigned int	registerSensor (RaySensor *raysensor, Primitive *body, const osg::Matrix &pose, double range, RaySensor::rayDrawMode drawMode)
	registers a new sensor at the sensor bank.
virtual void	reset ()
	resets all sensors (used for reseting the sensor value to a value of maximal distance)
virtual bool	sense (dGeomID object)
	performs sense action of all sensors by checking collision with the given object
virtual double	get (unsigned int index)
	returns the sensor value of the given sensor (usually in the range [-1,1] )
virtual int	get (double *sensorarray, unsigned int array_size)
	writes sensorvalues in given sensorarray
virtual dSpaceID	getSpaceID ()
	returns the spaceID of the sensor space
virtual void	update ()
	updates the sensor's graphical representation
virtual void	clear ()
Protected Attributes
std::vector< RaySensor * >	bank
bool	initialized
OdeHandle	odeHandle
OsgHandle	osgHandle

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Constructor & Destructor Documentation

RaySensorBank (   )

Definition at line 54 of file raysensorbank.cpp.

~RaySensorBank (   )  [virtual]

Definition at line 58 of file raysensorbank.cpp.

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Member Function Documentation

void clear (   )  [virtual]

Definition at line 118 of file raysensorbank.cpp.

int get (  double *  sensorarray, unsigned int  array_size )  [virtual]

writes sensorvalues in given sensorarray Parameters: sensorarray  pointer to the sensorarray in which the values should be stored array_size  maximal number of all elements in the sensorarray Returns: number of written sensorvalues Definition at line 98 of file raysensorbank.cpp.

double get (  unsigned int  index  )  [virtual]

returns the sensor value of the given sensor (usually in the range [-1,1] ) Definition at line 93 of file raysensorbank.cpp.

dSpaceID getSpaceID (   )  [virtual]

returns the spaceID of the sensor space Definition at line 107 of file raysensorbank.cpp.

void init (  const OdeHandle &  odeHandle, const OsgHandle &  osgHandle )  [virtual]

initialises sensor bank with handles for ode and osg Definition at line 62 of file raysensorbank.cpp.

virtual unsigned int registerSensor (  RaySensor *  raysensor, Primitive *  body, const osg::Matrix &  pose, double  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

void reset (   )  [virtual]

resets all sensors (used for reseting the sensor value to a value of maximal distance) Definition at line 77 of file raysensorbank.cpp.

bool sense (  dGeomID  object  )  [virtual]

performs sense action of all sensors by checking collision with the given object Returns: true for any collision handled (sensed) and false for no interaction Definition at line 83 of file raysensorbank.cpp.

void update (   )  [virtual]

updates the sensor's graphical representation Definition at line 111 of file raysensorbank.cpp.

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Member Data Documentation

std::vector<RaySensor*> bank [protected]

Definition at line 108 of file raysensorbank.h.

bool initialized [protected]

Definition at line 109 of file raysensorbank.h.

OdeHandle odeHandle [protected]

Definition at line 111 of file raysensorbank.h.

OsgHandle osgHandle [protected]

Definition at line 112 of file raysensorbank.h.

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