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RobWorkProject
24.12.4-
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A simulated line scanner. More...
#include <SimulatedScanner1D.hpp>
Inherits Scanner1D, and SimulatedSensor.
Public Types | |
typedef rw::core::Ptr< SimulatedScanner1D > | Ptr |
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typedef rw::core::Ptr< Sensor > | Ptr |
smart pointer type | |
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typedef rw::core::Ptr< SimulatedSensor > | Ptr |
smart pointer type of this class | |
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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 () |
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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 | |
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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... | |
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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 | |
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Scanner (const std::string &name, const std::string &desc) | |
constructor More... | |
Scanner (const std::string &name) | |
constructor More... | |
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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... | |
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SimulatedSensor (rw::sensor::SensorModel::Ptr model) | |
constructor | |
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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 | |
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bool | _registered |
True if object has registered its state. | |
std::vector< rw::core::Ptr< StateData > > | _datas |
Data. | |
StateStructure::Ptr | _stateStruct |
The state structure. | |
A simulated line scanner.
SimulatedScanner1D | ( | const std::string & | name, |
rw::core::Ptr< rwlibs::simulation::FrameGrabber25D > | framegrabber | ||
) |
constructor
name | [in] name of this simulated scanner |
framegrabber | [in] the framegrabber used for grabbing 2.5D images |
SimulatedScanner1D | ( | const std::string & | name, |
const std::string & | desc, | ||
rw::core::Ptr< rwlibs::simulation::FrameGrabber25D > | framegrabber | ||
) |
constructor
name | [in] name of this simulated scanner |
desc | [in] description of this scanner |
framegrabber | [in] the framegrabber used for grabbing 2.5D images |
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virtual |
Acquires data.
Implements Scanner.
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virtual |
Closes the connection to the scanner.
Implements Scanner.
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inlinevirtual |
returns a char pointer to the image data
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virtual |
returns the framerate that this camera is setup with
Implements Scanner.
const rw::geometry::PointCloud& getImage | ( | ) |
Simulates a Kinnect grabbing RGBD images.
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virtual |
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virtual |
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virtual |
tests whether an image has been acquired
Implements Scanner.
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virtual |
Opens connection to the scanner.
Implements Scanner.
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virtual |
Resets the state of the SimulatedSensor to that of state.
state | [in] the state that the sensor is reset too. |
Implements SimulatedSensor.
void setFrameRate | ( | double | rate | ) |
set the framerate in frames per sec.
rate | [in] frames per sec |
void update | ( | double | dt, |
rw::kinematics::State & | state | ||
) |
steps the the sensor with time dt and saves any state changes in state.
dt | [in] the timestep. |
state | [out] changes of the SimulatedSensor is saved in state. |