RobWorkProject
24.8.23-
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simulated sensor interface More...
#include <SimulatedSensor.hpp>
Inherits Stateless.
Inherited by SimulatedCamera, SimulatedKinect, SimulatedScanner1D [virtual]
, SimulatedScanner25D, SimulatedScanner2D, and SimulatedTactileSensor.
Public Types | |
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 | |
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... | |
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) |
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... | |
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 (rw::core::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< rw::core::Ptr< StateData > > | _datas |
Data. | |
StateStructure::Ptr | _stateStruct |
The state structure. | |
simulated sensor interface
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inline |
get frame that this sensor is attached to.
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
sim | [in] the simulator in which the handle is active |
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pure virtual |
Resets the state of the SimulatedSensor to that of state.
state | [in] the state that the sensor is reset too. |
Implemented in TactileArraySensor, SimulatedFTSensor, BodyContactSensor, SimulatedScanner2D, SimulatedScanner25D, SimulatedScanner1D, SimulatedKinect, and SimulatedCamera.
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pure virtual |
steps the the SimulatedSensor with time dt and saves any state changes in state.
info | [in] update information related to the time step. |
state | [out] changes of the SimulatedSensor is saved in state. |
Implemented in SimulatedScanner25D, TactileArraySensor, SimulatedFTSensor, BodyContactSensor, SimulatedScanner2D, SimulatedKinect, and SimulatedCamera.