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

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# speedsensor.h

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    00001 /***************************************************************************
    00002  *   Copyright (C) 2005 by Robot Group Leipzig                             *
    00003  *    martius@informatik.uni-leipzig.de                                    *
    00004  *    fhesse@informatik.uni-leipzig.de                                     *
    00005  *    der@informatik.uni-leipzig.de                                        *
    00006  *                                                                         *
    00007  *   This program is free software; you can redistribute it and/or modify  *
    00008  *   it under the terms of the GNU General Public License as published by  *
    00009  *   the Free Software Foundation; either version 2 of the License, or     *
    00010  *   (at your option) any later version.                                   *
    00011  *                                                                         *
    00012  *   This program is distributed in the hope that it will be useful,       *
    00013  *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
    00014  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
    00015  *   GNU General Public License for more details.                          *
    00016  *                                                                         *
    00017  *   You should have received a copy of the GNU General Public License     *
    00018  *   along with this program; if not, write to the                         *
    00019  *   Free Software Foundation, Inc.,                                       *
    00020  *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
    00021  ***************************************************************************
    00022  *                                                                         *
    00023  *  DESCRIPTION                                                            *
    00024  *                                                                         *
    00025  *   $Log: speedsensor.h,v $
    00026  *   Revision 1.2  2007/06/08 15:37:22  martius
    00027  *   random seed into OdeConfig -> logfiles
    00028  *
    00029  *   Revision 1.1  2006/12/21 11:41:12  martius
    00030  *   sensor from measuring speed
    00031  *
    00032  *                                                                 *
    00033  ***************************************************************************/
    00034 #ifndef __SPEEDSENSOR_H
    00035 #define __SPEEDSENSOR_H
    00036
    00037 #include "sensor.h"
    00038
    00039 namespace lpzrobots {
    00040
    00041   /** Class for speed sensing of robots.
    00042       The sensor values are normalised speeds, either translational or rotational
    00043   */
    00044   class SpeedSensor : public Sensor {
    00045   public:
    00046
    00047     /// Sensor mode
    00048     enum Mode { Translational,     ///< measures translational speed in world coordinates (Linear velocity)
    00049                 TranslationalRel,  ///< measures translational speed in body coordinates (Linear velocity)
    00050                 Rotational,        ///< measures roational velocity around the world axis
    00051                 RotationalRel      ///< measures roational velocity around the body axis
    00052     };
    00053
    00054     /**
    00055        @param maxSpeed maximal speed that is expected used for normalisation of sensor value
    00056        @param dimensions bit mask for the dimensions to sense. Default: X | Y | Z (all dimensions)
    00057        @see Dimensions
    00058      */
    00059     SpeedSensor(double maxSpeed, Mode mode = Translational, short dimensions = X | Y | Z );
    00060     virtual ~SpeedSensor() {}
    00061
    00062     virtual void init(Primitive* own);
    00063     virtual int getSensorNumber() const;
    00064
    00065     virtual bool sense(const GlobalData& globaldata);
    00066     virtual std::list<sensor> get() const;
    00067     virtual int get(sensor* sensors, int length) const;
    00068   protected:
    00069     matrix::Matrix getSenseMatrix() const;
    00070
    00071   protected:
    00072     double maxSpeed;
    00073     Mode mode;
    00074     short dimensions;
    00075     Primitive* own;
    00076   };
    00077
    00078
    00079 }
    00080
    00081 #endif