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

# axisorientationsensor.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 __AXISORIENTATIONSENSOR_H
    00025 #define __AXISORIENTATIONSENSOR_H
    00026
    00027 #include "sensor.h"
    00028
    00029 namespace lpzrobots {
    00030
    00031   /** Class for sensing the axis orienation of a primitive (robot)
    00032   */
    00033   class AxisOrientationSensor : public Sensor {
    00034   public:
    00035     /// Sensor mode
    00036     enum Mode { /** Z axis (of robot) in word coordinates (relative to body center)
    00037                     (Dimensions select components of this vector) */
    00038                 OnlyZAxis,
    00039                 ZProjection, ///< z-component of each axis (Dimension select components of this vector)
    00040                 Axis ///< for each dimension one orienation vector, i.e. for X | Y | Z it is a 3x3 rotation matrix
    00041     };
    00042
    00043     /**
    00044        @param mode how to measure the axis orientation
    00045        @param dimensions bit mask for the dimensions to sense. Default: X | Y | Z (all dimensions)
    00046        @see Sensor::Dimensions
    00047        @see Mode
    00048      */
    00049     AxisOrientationSensor(Mode mode, short dimensions = X | Y | Z );
    00050     virtual ~AxisOrientationSensor() {}
    00051
    00052     virtual void init(Primitive* own);
    00053     virtual int getSensorNumber() const;
    00054
    00055     virtual bool sense(const GlobalData& globaldata);
    00056     virtual std::list<sensor> get() const;
    00057     virtual int get(sensor* sensors, int length) const;
    00058
    00059   private:
    00060     Mode mode;
    00061     short dimensions;
    00062     Primitive* own;
    00063   };
    00064
    00065
    00066 }
    00067
    00068 #endif