Robot Simulator of the Robotics Group for Self-Organization of Control: raysensorbank.h Source File

# raysensorbank.h

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    00001 /***************************************************************************
    00002  *   Copyright (C) 2005-2011 LpzRobots development team                    *
    00003  *    Georg Martius  <georg dot martius at web dot de>                     *
    00004  *    Frank Guettler <guettler at informatik dot uni-leipzig dot de        *
    00005  *    Frank Hesse    <frank at nld dot ds dot mpg dot de>                  *
    00006  *    Ralf Der       <ralfder at mis dot mpg dot de>                       *
    00007  *                                                                         *
    00008  *   This program is free software; you can redistribute it and/or modify  *
    00009  *   it under the terms of the GNU General Public License as published by  *
    00010  *   the Free Software Foundation; either version 2 of the License, or     *
    00011  *   (at your option) any later version.                                   *
    00012  *                                                                         *
    00013  *   This program is distributed in the hope that it will be useful,       *
    00014  *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
    00015  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
    00016  *   GNU General Public License for more details.                          *
    00017  *                                                                         *
    00018  *   You should have received a copy of the GNU General Public License     *
    00019  *   along with this program; if not, write to the                         *
    00020  *   Free Software Foundation, Inc.,                                       *
    00021  *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
    00022  *                                                                         *
    00023  ***************************************************************************/
    00024 #ifndef __RAYSENSORBANK_H
    00025 #define __RAYSENSORBANK_H
    00026
    00027 #include <vector>
    00028 #include "raysensor.h"
    00029
    00030 namespace lpzrobots {
    00031
    00032 /** Class for a bank (collection) of ray sensors.
    00033     Ray sensors can be registered at the bank. Methods for resetting,
    00034     sensing and reading the sensor values of all sensors are provided.
    00035  */
    00036 class RaySensorBank {
    00037 public:
    00038   RaySensorBank();
    00039
    00040   virtual ~RaySensorBank();
    00041
    00042   /** initialises sensor bank with handles for ode and osg
    00043    */
    00044   virtual void init( const OdeHandle& odeHandle, const OsgHandle& osgHandle );
    00045
    00046   /** registers a new sensor at the sensor bank. The body and the pose have to be provided.
    00047       @param raysensor RaySensor to add
    00048       @param body body to which the sensor should be connected
    00049       @param pose relative position/orientation
    00050       @param range maximum sense range of the sensor
    00051       @return index of the sensor
    00052    */
    00053   virtual unsigned int registerSensor(RaySensor* raysensor, Primitive* body,
    00054                                       const osg::Matrix& pose, float range,
    00055                                       RaySensor::rayDrawMode drawMode);
    00056
    00057   /** resets all sensors (used for reseting the sensor value to a value of maximal distance)
    00058    */
    00059   virtual void reset();
    00060
    00061   /// returns the number of sensors
    00062   virtual int size() { return bank.size(); }
    00063
    00064   /** returns the sensor value of the given sensor (usually in the range [-1,1] )
    00065    */
    00066   virtual double get(unsigned int index);
    00067
    00068   /** writes sensorvalues in given sensorarray
    00069       @param sensorarray pointer to the sensorarray in which the values should be stored
    00070       @param array_size maximal number of all elements in the sensorarray
    00071       @return number of written sensorvalues
    00072    */
    00073   virtual int get(double* sensorarray, unsigned int array_size);
    00074
    00075   /// returns the number of sensors in the bank
    00076   virtual int getSensorNumber();
    00077
    00078   /** set the range of the specified sensor (index)
    00079       @param index index of sensor to modify
    00080       @param range new length of the sensor
    00081   */
    00082   virtual void setRange(unsigned int index, float range);
    00083
    00084   /** set the range of all sensors
    00085       @param range new length of the sensors
    00086   */
    00087   virtual void setRange(float range);
    00088
    00089   /** returns the spaceID of the sensor space
    00090    */
    00091   virtual dSpaceID getSpaceID();
    00092
    00093   /** updates the sensor's graphical representation
    00094    */
    00095   virtual void update();
    00096
    00097   // delete all registered sensors.
    00098   virtual void clear();
    00099
    00100   // returns true if initialized
    00101   virtual bool isInitialized() { return initialized;}
    00102
    00103 protected:
    00104   std::vector<RaySensor*> bank;
    00105   bool initialized;
    00106
    00107   OdeHandle odeHandle;
    00108   OsgHandle osgHandle;
    00109 };
    00110
    00111 }
    00112
    00113 #endif