Sensor Class Reference

Abstract class for sensors that can be plugged into a robot. More...

#include <sensor.h>

Inherited by AxisOrientationSensor, CameraSensor, RelativePositionSensor, SoundSensor, SpeedSensor, and TorqueSensor.

List of all members.

Public Types
enum	Dimensions {   X = 1, Y = 2, Z = 4, XY = X | Y,   XZ = X | Z, YZ = Y | Z, XYZ = X | Y | Z }
	defines which dimensions should be sensed. The meaning is sensor specific. More...
Public Member Functions
	Sensor ()
virtual	~Sensor ()
virtual void	init (Primitive *own)=0
	initialises sensor with body of robot.
virtual bool	sense (const GlobalData &globaldata)=0
	performs sense action
virtual int	getSensorNumber () const =0
	returns the number of sensors values produced by this sensor
virtual std::list< sensor >	get () const =0
	returns a list of sensor values (usually in the range [0,1] ) This function should be overloaded.
virtual void	update ()
	to update any visual appearance
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.
Static Public Member Functions
static std::list< sensor >	selectrows (const matrix::Matrix &m, short dimensions)
	selects the rows specified by dimensions (X->0, Y->1, Z->2)
static int	selectrows (sensor *sensors, int length, const matrix::Matrix &m, short dimensions)
	selects the rows specified by dimensions (X->0, Y->1, Z->2)

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Detailed Description

Abstract class for sensors that can be plugged into a robot.

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Member Enumeration Documentation

enum Dimensions

defines which dimensions should be sensed. The meaning is sensor specific.

Enumerator:

X
Y
Z
XY
XZ
YZ
XYZ

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Constructor & Destructor Documentation

Sensor

(

)

[inline]

virtual ~Sensor

(

)

[inline, virtual]

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Member Function Documentation

virtual int get	(	sensor *	sensors,
		int	length
	)			const [inline, 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 in AxisOrientationSensor, CameraSensor, DirectCameraSensor, PositionCameraSensor, OpticalFlow, RelativePositionSensor, SoundSensor, and SpeedSensor.

virtual std::list<sensor> get

(

)

const [pure virtual]

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

Implemented in AxisOrientationSensor, CameraSensor, RelativePositionSensor, SoundSensor, SpeedSensor, and TorqueSensor.

virtual int getSensorNumber

(

)

const [pure virtual]

returns the number of sensors values produced by this sensor

Implemented in AxisOrientationSensor, CameraSensor, DirectCameraSensor, PositionCameraSensor, OpticalFlow, RelativePositionSensor, SoundSensor, SpeedSensor, and TorqueSensor.

virtual void init

(

Primitive *

own

)

[pure virtual]

initialises sensor with body of robot.

This is usually done by the robot itself.

Implemented in AxisOrientationSensor, CameraSensor, RelativePositionSensor, SoundSensor, SpeedSensor, and TorqueSensor.

static int selectrows	(	sensor *	sensors,
		int	length,
		const matrix::Matrix &	m,
		short	dimensions
	)			[inline, static]

selects the rows specified by dimensions (X->0, Y->1, Z->2)

static std::list<sensor> selectrows	(	const matrix::Matrix &	m,
		short	dimensions
	)			[inline, static]

selects the rows specified by dimensions (X->0, Y->1, Z->2)

virtual bool sense

(

const GlobalData &

globaldata

)

[pure virtual]

performs sense action

Implemented in AxisOrientationSensor, CameraSensor, DirectCameraSensor, PositionCameraSensor, MotionCameraSensor, OpticalFlow, RelativePositionSensor, SoundSensor, SpeedSensor, and TorqueSensor.

virtual void update

(

)

[inline, virtual]

to update any visual appearance

Reimplemented in CameraSensor.

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

• sensor.h