A simulated line scanner. More...

#include <SimulatedScanner1D.hpp>

Inherits Scanner1D, and SimulatedSensor.

Public Types
typedef rw::core::Ptr< SimulatedScanner1D >	Ptr

Public Types inherited from Sensor
typedef rw::core::Ptr< Sensor >	Ptr
	smart pointer type

Public Types inherited from SimulatedSensor
typedef rw::core::Ptr< SimulatedSensor >	Ptr
	smart pointer type of this class

Public Types inherited from Stateless
typedef rw::core::Ptr< Stateless >	Ptr
	Smart pointer type for Stateless.

Public Member Functions
	SimulatedScanner1D (const std::string &name, rw::core::Ptr< rwlibs::simulation::FrameGrabber25D > framegrabber)
	constructor More...

	SimulatedScanner1D (const std::string &name, const std::string &desc, rw::core::Ptr< rwlibs::simulation::FrameGrabber25D > framegrabber)
	constructor More...

virtual	~SimulatedScanner1D ()
	destructor

void	setFrameRate (double rate)
	set the framerate in frames per sec. More...

void	open ()
	Opens connection to the scanner. More...

bool	isOpen ()
	Returns whether the scanner has been opened. More...

void	close ()
	Closes the connection to the scanner. More...

void	acquire ()
	Acquires data. More...

bool	isScanReady ()
	tests whether an image has been acquired More...

std::pair< double, double >	getRange ()
	Returns the min and max range of this Scanner. More...

double	getFrameRate ()
	returns the framerate that this camera is setup with More...

const rw::geometry::PointCloud &	getImage ()
	Simulates a Kinnect grabbing RGBD images. More...

void	update (double dt, rw::kinematics::State &state)
	steps the the sensor with time dt and saves any state changes in state. More...

void	reset (const rw::kinematics::State &state)
	Resets the state of the SimulatedSensor to that of state. More...

rw::sensor::Sensor *	getSensor ()

virtual const rw::geometry::PointCloud &	getData ()
	returns a char pointer to the image data More...

virtual double	getResolution ()

Public Member Functions inherited from Sensor
virtual	~Sensor ()
	destructor

const std::string &	getName () const
	returns the name of this sensor More...

const std::string &	getDescription () const
	returns a description of this sensor More...

rw::core::Ptr< rw::sensor::SensorModel >	getSensorModel () const
	The frame to which the sensor is attached. More...

virtual void	setSensorModel (rw::core::Ptr< rw::sensor::SensorModel > smodel)
	Sets the frame to which the sensor should be attached. More...

rw::core::PropertyMap &	getPropertyMap ()
	gets the propertymap of this sensor

const rw::core::PropertyMap &	getPropertyMap () const
	gets the propertymap of this sensor

Public Member Functions inherited from SimulatedSensor
virtual	~SimulatedSensor ()
	destructor

const std::string &	getName () const
	get name of this simulated sensor

rw::kinematics::Frame *	getFrame () const
	get frame that this sensor is attached to. More...

virtual void	update (const rwlibs::simulation::Simulator::UpdateInfo &info, rw::kinematics::State &state)=0
	steps the the SimulatedSensor with time dt and saves any state changes in 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)
	get a handle to controlling an instance of the simulated sensor in a specific simulator More...

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...

Additional Inherited Members
Protected Member Functions inherited from Scanner
	Scanner (const std::string &name, const std::string &desc)
	constructor More...

	Scanner (const std::string &name)
	constructor More...

Protected Member Functions inherited from Sensor
	Sensor (const std::string &name)
	constructor More...

	Sensor (const std::string &name, const std::string &description)
	constructor More...

void	setName (const std::string &name)
	sets the name of this sensor More...

void	setDescription (const std::string &description)
	sets the description of this sensor More...

Protected Member Functions inherited from SimulatedSensor
	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 (rw::core::Ptr< StateData > data)
	implementations of sensor should add all their state data on initialization

Protected Attributes inherited from Stateless
bool	_registered
	True if object has registered its state.

std::vector< rw::core::Ptr< StateData > >	_datas
	Data.

StateStructure::Ptr	_stateStruct
	The state structure.

Detailed Description

A simulated line scanner.

Constructor & Destructor Documentation

◆ SimulatedScanner1D() [1/2]

SimulatedScanner1D	(	const std::string &	name,
		rw::core::Ptr< rwlibs::simulation::FrameGrabber25D >	framegrabber
	)

constructor

Parameters

name	[in] name of this simulated scanner
framegrabber	[in] the framegrabber used for grabbing 2.5D images

◆ SimulatedScanner1D() [2/2]

SimulatedScanner1D	(	const std::string &	name,
		const std::string &	desc,
		rw::core::Ptr< rwlibs::simulation::FrameGrabber25D >	framegrabber
	)

constructor

Parameters

name	[in] name of this simulated scanner
desc	[in] description of this scanner
framegrabber	[in] the framegrabber used for grabbing 2.5D images

Member Function Documentation

◆ acquire()

void acquire ( )

virtual

Acquires data.

Implements Scanner.

◆ close()

void close ( )

virtual

Closes the connection to the scanner.

Implements Scanner.

◆ getData()

virtual const rw::geometry::PointCloud& getData ( )

inlinevirtual

returns a char pointer to the image data

Returns: char pointer to the image data

◆ getFrameRate()

double getFrameRate ( )

virtual

returns the framerate that this camera is setup with

Returns: the framerate in frames per second

Implements Scanner.

◆ getImage()

const rw::geometry::PointCloud& getImage ( )

Simulates a Kinnect grabbing RGBD images.

◆ getRange()

std::pair<double, double> getRange ( )

virtual

Returns the min and max range of this Scanner.

Returns: min and max range

Implements Scanner.

◆ isOpen()

bool isOpen ( )

virtual

Returns whether the scanner has been opened.

Returns: true if scanner is opened

Implements Scanner.

◆ isScanReady()

bool isScanReady ( )

virtual

tests whether an image has been acquired

Returns: true if an image has been acquired, false otherwise.

Implements Scanner.

◆ open()

void open ( )

virtual

Opens connection to the scanner.

Implements Scanner.

◆ reset()

void reset ( const rw::kinematics::State & state )

virtual

Resets the state of the SimulatedSensor to that of state.

Parameters

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

Implements SimulatedSensor.

◆ setFrameRate()

void setFrameRate ( double rate )

set the framerate in frames per sec.

Parameters

rate	[in] frames per sec

◆ update()

void update	(	double	dt,
		rw::kinematics::State &	state
	)

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

Parameters

dt	[in] the timestep.
state	[out] changes of the SimulatedSensor is saved in state.

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

SimulatedScanner1D.hpp

Public Types

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ SimulatedScanner1D() [1/2]

◆ SimulatedScanner1D() [2/2]

Member Function Documentation

◆ acquire()

◆ close()

◆ getData()

◆ getFrameRate()

◆ getImage()

◆ getRange()

◆ isOpen()

◆ isScanReady()

◆ open()

◆ reset()

◆ setFrameRate()

◆ update()