RobWorkProject  24.12.4-
Public Types | Public Member Functions | List of all members
SensorModel Class Reference

a general sensormodel interface. The sensormodel describe the model of a sensor and define the data that are part of the State. Much like Device, which describe the kinematic model of a robot. A sensormodel should have a name id and be associated, referenced to some frame in the workcell. More...

#include <SensorModel.hpp>

Inherits Stateless.

Inherited by CameraModel, FTSensorModel, RGBDCameraModel, Scanner25DModel, Scanner2DModel, StereoCameraModel, and TactileArrayModel.

Public Types

typedef rw::core::Ptr< SensorModelPtr
 smart pointer type
 
- Public Types inherited from Stateless
typedef rw::core::Ptr< StatelessPtr
 Smart pointer type for Stateless.
 

Public Member Functions

 SensorModel (const std::string &name, rw::core::Ptr< kinematics::Frame > frame)
 constructor More...
 
 SensorModel (const std::string &name, rw::core::Ptr< kinematics::Frame > frame, const std::string &description)
 constructor More...
 
virtual ~SensorModel ()
 destructor
 
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...
 
const std::string & getName () const
 returns the name of this sensor More...
 
const std::string & getDescription () const
 returns a description of this sensor More...
 
kinematics::FramegetFrame () const
 The frame to which the sensor is attached. More...
 
virtual void attachTo (rw::core::Ptr< kinematics::Frame > frame)
 Sets the frame to which the sensor should be attached. More...
 
rw::core::PropertyMapgetPropertyMap ()
 gets the propertymap of this sensor
 
const rw::core::PropertyMapgetPropertyMap () const
 gets the propertymap of this sensor
 
- 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 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 general sensormodel interface. The sensormodel describe the model of a sensor and define the data that are part of the State. Much like Device, which describe the kinematic model of a robot. A sensormodel should have a name id and be associated, referenced to some frame in the workcell.

Constructor & Destructor Documentation

◆ SensorModel() [1/2]

SensorModel ( const std::string &  name,
rw::core::Ptr< kinematics::Frame frame 
)

constructor

Parameters
name[in] the name of this sensor
frame[in] the frame that the sensor is referenced to

◆ SensorModel() [2/2]

SensorModel ( const std::string &  name,
rw::core::Ptr< kinematics::Frame frame,
const std::string &  description 
)

constructor

Parameters
name[in] the name of this sensor
frame[in] the frame that the sensor is referenced to
description[in] description of the sensor

Member Function Documentation

◆ attachTo()

virtual void attachTo ( rw::core::Ptr< kinematics::Frame frame)
inlinevirtual

Sets the frame to which the sensor should be attached.

Parameters
frameThe frame, which can be NULL

◆ getDescription()

const std::string& getDescription ( ) const
inline

returns a description of this sensor

Returns
reference to this sensors description

◆ getFrame()

kinematics::Frame* getFrame ( ) const
inline

The frame to which the sensor is attached.

The frame can be NULL.

◆ getName()

const std::string& getName ( ) const
inline

returns the name of this sensor

Returns
name of sensor

◆ setDescription()

void setDescription ( const std::string &  description)
inline

sets the description of this sensor

Parameters
description[in] description of this sensor

◆ setName()

void setName ( const std::string &  name)
inline

sets the name of this sensor

Parameters
name[in] name of this sensor

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