RaySensorBank Class Reference

Class for a bank of ray sensors. More...

#include <raysensorbank.h>

Collaboration diagram for RaySensorBank:

[legend]List of all members.

Public Member Functions
	RaySensorBank ()
virtual	~RaySensorBank ()
virtual void	init (const OdeHandle &odeHandle, const OsgHandle &osgHandle)
	initialises sensor bank with handles for ode and osg
virtual unsigned int	registerSensor (RaySensor *raysensor, Primitive *body, const osg::Matrix &pose, double range, RaySensor::rayDrawMode drawMode)
	registers a new sensor at the sensor bank.
virtual void	reset ()
	resets all sensors (used for reseting the sensor value to a value of maximal distance)
virtual bool	sense (dGeomID object)
	performs sense action of all sensors by checking collision with the given object
virtual double	get (unsigned int index)
	returns the sensor value of the given sensor (usually in the range [-1,1] )
virtual int	get (double *sensorarray, unsigned int array_size)
	writes sensorvalues in given sensorarray
virtual dSpaceID	getSpaceID ()
	returns the spaceID of the sensor space
virtual void	update ()
	updates the sensor's graphical representation
virtual void	clear ()
Protected Attributes
std::vector< RaySensor * >	bank
bool	initialized
OdeHandle	odeHandle
OsgHandle	osgHandle

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Detailed Description

Class for a bank of ray sensors.

Ray sensors can be registered at the bank. Methods for resetting, sensing and reading the sensorvalues of all sensors are provided.

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Constructor & Destructor Documentation

RaySensorBank

(

)

~RaySensorBank

(

)

[virtual]

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Member Function Documentation

void clear

(

)

[virtual]

int get	(	double *	sensorarray,
		unsigned int	array_size
	)			[virtual]

writes sensorvalues in given sensorarray

Parameters:

	sensorarray	pointer to the sensorarray in which the values should be stored
	array_size	maximal number of all elements in the sensorarray

Returns:

number of written sensorvalues

double get

(

unsigned int

index

)

[virtual]

returns the sensor value of the given sensor (usually in the range [-1,1] )

dSpaceID getSpaceID

(

)

[virtual]

returns the spaceID of the sensor space

void init	(	const OdeHandle &	odeHandle,
		const OsgHandle &	osgHandle
	)			[virtual]

initialises sensor bank with handles for ode and osg

unsigned int registerSensor	(	RaySensor *	raysensor,
		Primitive *	body,
		const osg::Matrix &	pose,
		double	range,
		RaySensor::rayDrawMode	drawMode
	)			[virtual]

registers a new sensor at the sensor bank.

The body and the pose have to be provided.

Parameters:

	raysensor	RaySensor to add
	body	body to which the sensor should be connected
	pose	relative position/orientation
	range	maximum sense range of the sensor

Returns:

index of the sensor

void reset

(

)

[virtual]

resets all sensors (used for reseting the sensor value to a value of maximal distance)

bool sense

(

dGeomID

object

)

[virtual]

performs sense action of all sensors by checking collision with the given object

Returns:

true for any collision handled (sensed) and false for no interaction

void update

(

)

[virtual]

updates the sensor's graphical representation

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Member Data Documentation

std::vector<RaySensor*> bank [protected]

bool initialized [protected]

OdeHandle odeHandle [protected]

OsgHandle osgHandle [protected]

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

• raysensorbank.h
• raysensorbank.cpp

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