AxisOrientationSensor Class Reference

Class for sensing the axis orienation of a primitive (robot). More...

#include <axisorientationsensor.h>

Inherits lpzrobots::Sensor.

Collaboration diagram for AxisOrientationSensor:

[legend]

List of all members.

Public Types
enum	Mode { OnlyZAxis, ZProjection, Axis }
	Sensor mode. More...
Public Member Functions
	AxisOrientationSensor (Mode mode, short dimensions=X|Y|Z)
virtual	~AxisOrientationSensor ()
virtual void	init (Primitive *own)
	initialises sensor with body of robot.
virtual int	getSensorNumber () const
	returns the number of sensors values produced by this sensor
virtual bool	sense (const GlobalData &globaldata)
	performs sense action
virtual std::list< sensor >	get () const
	returns a list of sensor values (usually in the range [0,1] ) This function should be overloaded.
virtual int	get (sensor *sensors, int length) const
	writes the sensor values (usually in the range [0,1] ) into the given sensor array and returns the number of sensors written.

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Detailed Description

Class for sensing the axis orienation of a primitive (robot).

Examples:

template_sphererobot/main.cpp.

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Member Enumeration Documentation

enum Mode

Sensor mode.

Enumerator:

OnlyZAxis	Z axis (of robot) in word coordinates (relative to body center) (Dimensions select components of this vector).
ZProjection	z-component of each axis (Dimension select components of this vector)
Axis	for each dimension one orienation vector, i.e. for X | Y | Z it is a 3x3 rotation matrix

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Constructor & Destructor Documentation

AxisOrientationSensor	(	Mode	mode,
		short	dimensions = X | Y | Z
	)

Parameters:

	mode	how to measure the axis orientation
	dimensions	bit mask for the dimensions to sense. Default: X | Y | Z (all dimensions)

See also:

Sensor::Dimensions

Mode

virtual ~AxisOrientationSensor

(

)

[inline, virtual]

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Member Function Documentation

int get	(	sensor *	sensors,
		int	length
	)			const [virtual]

writes the sensor values (usually in the range [0,1] ) into the given sensor array and returns the number of sensors written.

A default implementation based on get() is provided. Only of performance matters overwrite this function.

Parameters:

	sensors	call by refernce array which received the values
	length	capacity of sensors array

Returns:

number of sensor values written

Reimplemented from Sensor.

std::list< sensor > get

(

)

const [virtual]

returns a list of sensor values (usually in the range [0,1] ) This function should be overloaded.

Implements Sensor.

int getSensorNumber

(

)

const [virtual]

returns the number of sensors values produced by this sensor

Implements Sensor.

void init

(

Primitive *

own

)

[virtual]

initialises sensor with body of robot.

This is usually done by the robot itself.

Implements Sensor.

bool sense

(

const GlobalData &

globaldata

)

[virtual]

performs sense action

Implements Sensor.

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

• axisorientationsensor.h
• axisorientationsensor.cpp