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SimulatedSensor Class Referenceabstract

simulated sensor interface More...

#include <SimulatedSensor.hpp>

Inherits Stateless.

Inherited by SimulatedCamera, SimulatedKinect, SimulatedScanner1D [virtual], SimulatedScanner25D, SimulatedScanner2D, and SimulatedTactileSensor.

Public Types

typedef rw::common::Ptr< SimulatedSensorPtr
 smart pointer type of this class
 
- Public Types inherited from Stateless
typedef rw::common::Ptr< StatelessPtr
 Smart pointer type for Stateless.
 

Public Member Functions

virtual ~SimulatedSensor ()
 destructor
 
const std::string & getName () const
 get name of this simulated sensor
 
rw::kinematics::FramegetFrame () const
 get frame that this sensor is attached to. More...
 
virtual void update (const Simulator::UpdateInfo &info, rw::kinematics::State &state)=0
 steps the the SimulatedSensor with time dt and saves any state changes in state. More...
 
virtual void reset (const rw::kinematics::State &state)=0
 Resets the state of the SimulatedSensor to that of state. More...
 
rw::sensor::SensorModel::Ptr getSensorModel ()
 get the sensor model of this simulated sensor.
 
rw::sensor::Sensor::Ptr getSensorHandle (rwlibs::simulation::Simulator::Ptr sim)
 
- Public Member Functions inherited from Stateless
virtual ~Stateless ()
 destructor
 
virtual void registerIn (State &state)
 initialize this stateless data to a specific state More...
 
virtual void registerIn (StateStructure::Ptr state)
 register this stateless object in a statestructure.
 
virtual void unregister ()
 unregisters all state data of this stateless object
 
StateStructure::Ptr getStateStructure ()
 Get the state structure. More...
 
const StateStructure::Ptr getStateStructure () const
 Get the state structure. More...
 
bool isRegistered ()
 Check if object has registered its state. More...
 

Protected Member Functions

 SimulatedSensor (rw::sensor::SensorModel::Ptr model)
 constructor
 
- Protected Member Functions inherited from Stateless
 Stateless ()
 constructor
 
template<class T >
void add (StatelessData< T > &data)
 implementations of sensor should add all their stateless data on initialization
 
void add (StateData *data)
 Add data. More...
 
void add (boost::shared_ptr< StateData > data)
 implementations of sensor should add all their state data on initialization
 

Additional Inherited Members

- Protected Attributes inherited from Stateless
bool _registered
 True if object has registered its state.
 
std::vector< boost::shared_ptr< StateData > > _datas
 Data.
 
StateStructure::Ptr _stateStruct
 The state structure.
 

Detailed Description

simulated sensor interface

Member Function Documentation

◆ getFrame()

rw::kinematics::Frame* getFrame ( ) const
inline

get frame that this sensor is attached to.

Returns
frame

◆ getSensorHandle()

get a handle to controlling an instance of the simulated sensor in a specific simulator

Parameters
sim[in] the simulator in which the handle is active

◆ reset()

virtual void reset ( const rw::kinematics::State state)
pure virtual

Resets the state of the SimulatedSensor to that of state.

Parameters
state[in] the state that the sensor is reset too.

Implemented in SimulatedCamera, SimulatedKinect, SimulatedScanner25D, SimulatedScanner2D, SimulatedScanner1D, TactileArraySensor, SimulatedFTSensor, and BodyContactSensor.

◆ update()

virtual void update ( const Simulator::UpdateInfo info,
rw::kinematics::State state 
)
pure virtual

steps the the SimulatedSensor with time dt and saves any state changes in state.

Parameters
info[in] update information related to the time step.
state[out] changes of the SimulatedSensor is saved in state.

Implemented in SimulatedCamera, TactileArraySensor, SimulatedKinect, SimulatedScanner25D, SimulatedScanner2D, SimulatedFTSensor, and BodyContactSensor.


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