Simulated scanner in 2D. More...

#include <SimulatedScanner2D.hpp>

Public Types
typedef rw::core::Ptr< SimulatedScanner2D >	Ptr
	smart pointer of this class

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
	SimulatedScanner2D (const std::string &name, rw::core::Ptr< rw::kinematics::Frame > frame, rw::core::Ptr< rwlibs::simulation::FrameGrabber25D > framegrabber)
	constructor More...

	SimulatedScanner2D (const std::string &name, const std::string &desc, rw::core::Ptr< rw::kinematics::Frame > frame, rw::core::Ptr< rwlibs::simulation::FrameGrabber25D > framegrabber)
	constructor More...

virtual	~SimulatedScanner2D ()
	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 &	getScan () const
	Simulates a Kinnect grabbing RGBD images. More...

void	update (const rwlibs::simulation::Simulator::UpdateInfo &info, rw::kinematics::State &state)
	steps the the SimulatedSensor 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::core::Ptr< rw::sensor::Scanner2D >	getScanner2DSensor (rwlibs::simulation::Simulator *instance)
	returns a handle to what represents a statefull interface. The handle will be locked to the simulator More...

rw::core::Ptr< rw::sensor::Scanner2DModel >	getSensorModel ()
	Get a model of the sensor. More...

virtual double	getAngularRange ()
	Returns the min and max angular range of the scanner, where the angles represent the beginning and end of scanning in the z-x plane. Hence, angles represent rotation of z-axis around the y-axis. Normally range would be something like -170 to 170 degree for a Hokyo or Sick scanner. More...

virtual size_t	getMeasurementCount () const

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...

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 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

Simulated scanner in 2D.

Constructor & Destructor Documentation

◆ SimulatedScanner2D() [1/2]

SimulatedScanner2D	(	const std::string &	name,
		rw::core::Ptr< rw::kinematics::Frame >	frame,
		rw::core::Ptr< rwlibs::simulation::FrameGrabber25D >	framegrabber
	)

constructor

Parameters

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

◆ SimulatedScanner2D() [2/2]

SimulatedScanner2D	(	const std::string &	name,
		const std::string &	desc,
		rw::core::Ptr< rw::kinematics::Frame >	frame,
		rw::core::Ptr< rwlibs::simulation::FrameGrabber25D >	framegrabber
	)

constructor

Parameters

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

Member Function Documentation

◆ acquire()

void acquire ( )

Acquires data.

◆ close()

void close ( )

Closes the connection to the scanner.

◆ getAngularRange()

virtual double getAngularRange ( )

virtual

Returns the min and max angular range of the scanner, where the angles represent the beginning and end of scanning in the z-x plane. Hence, angles represent rotation of z-axis around the y-axis. Normally range would be something like -170 to 170 degree for a Hokyo or Sick scanner.

Returns: Angular range in radians

◆ getFrameRate()

double getFrameRate ( )

returns the framerate that this camera is setup with

Returns: the framerate in frames per second

◆ getRange()

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

Returns the min and max range of this Scanner.

Returns: min and max range

◆ getScan()

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

Simulates a Kinnect grabbing RGBD images.

◆ getScanner2DSensor()

rw::core::Ptr<rw::sensor::Scanner2D> getScanner2DSensor ( rwlibs::simulation::Simulator * instance )

returns a handle to what represents a statefull interface. The handle will be locked to the simulator

Returns

◆ getSensorModel()

rw::core::Ptr<rw::sensor::Scanner2DModel> getSensorModel ( )

Get a model of the sensor.

Returns: the model.

◆ isOpen()

bool isOpen ( )

Returns whether the scanner has been opened.

Returns: true if scanner is opened

◆ isScanReady()

bool isScanReady ( )

tests whether an image has been acquired

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

◆ open()

void open ( )

Opens connection to the 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	(	const rwlibs::simulation::Simulator::UpdateInfo &	info,
		rw::kinematics::State &	state
	)

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.

Implements SimulatedSensor.

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

SimulatedScanner2D.hpp

Public Types

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ SimulatedScanner2D() [1/2]

◆ SimulatedScanner2D() [2/2]

Member Function Documentation

◆ acquire()

◆ close()

◆ getAngularRange()

◆ getFrameRate()

◆ getRange()

◆ getScan()

◆ getScanner2DSensor()

◆ getSensorModel()

◆ isOpen()

◆ isScanReady()

◆ open()

◆ reset()

◆ setFrameRate()

◆ update()