#include <HapticFieldSensor.h>

Public Member Functions
	HapticFieldSensor (interfaces::ControlCenter *control, HapticFieldConfig config)

	~HapticFieldSensor ()

virtual int	getAsciiData (char *data) const

virtual int	getSensorData (interfaces::sReal **data) const

virtual void	receiveData (const data_broker::DataInfo &info, const data_broker::DataPackage &package, int callbackParam)
	The DataBroker will call this method to notify the receiver of whenever the condition for which the receiver registered occur. More...

virtual void	produceData (const data_broker::DataInfo &info, data_broker::DataPackage *package, int callbackParam)

virtual void	update (std::vector< interfaces::draw_item > *drawItems)
	This is the update function that updates the position of the vertices of all draw_item structs contained in drawItems. More...

Public Member Functions inherited from mars::interfaces::SensorInterface
	SensorInterface (ControlCenter *center)

virtual	~SensorInterface ()

Public Member Functions inherited from mars::interfaces::BaseGridIntersectionSensor
	BaseGridIntersectionSensor (unsigned long id, std::string name, int cols, int rows, double stepX, double stepY, double maxDistance=std::numeric_limits< double >::infinity())

virtual	~BaseGridIntersectionSensor ()

Public Member Functions inherited from mars::interfaces::BaseNodeSensor
	BaseNodeSensor (unsigned long id, std::string name)

virtual	~BaseNodeSensor ()

utils::Quaternion	getOrientation () const

unsigned long	getAttachedNode ()

Public Member Functions inherited from mars::interfaces::BaseSensor
	BaseSensor ()

virtual	~BaseSensor ()

	BaseSensor (unsigned long id, std::string name)

unsigned long	getID () const

const std::string	getName () const

void	getCoreExchange (core_objects_exchange *obj) const

virtual configmaps::ConfigMap	createConfig () const

Public Member Functions inherited from mars::interfaces::BaseArraySensor< double >
	BaseArraySensor (int cols, int rows, int channels=1)

virtual	~BaseArraySensor ()

const std::vector< double >	getData () const

const int &	getCols () const

const int &	getRows () const

const int &	getChannels () const

double &	operator[] (const int &index)

virtual void	resize (int cols, int rows, int channels=1)

Public Member Functions inherited from mars::data_broker::ProducerInterface
	ProducerInterface ()

virtual	~ProducerInterface ()

Public Member Functions inherited from mars::data_broker::ReceiverInterface
	ReceiverInterface ()

virtual	~ReceiverInterface ()

Public Member Functions inherited from mars::interfaces::DrawInterface
virtual	~DrawInterface ()

Static Public Member Functions
static interfaces::BaseConfig *	parseConfig (interfaces::ControlCenter control, configmaps::ConfigMap config)

static interfaces::BaseSensor *	instanciate (interfaces::ControlCenter control, interfaces::BaseConfig config)

Static Public Member Functions inherited from mars::interfaces::BaseSensor
static BaseConfig *	parseConfig (ControlCenter control, configmaps::ConfigMap config)

Private Member Functions
void	computeForces ()

Private Attributes
interfaces::drawStruct	draw

int	contactForceIndex

int	contactIndex

double	contactForce

bool	contact

bool	haveUpdate

long	positionIndices [3]

long	rotationIndices [4]

std::vector< utils::Vector >	sensorpoints

utils::Vector	ray

std::vector< double >	forces

std::vector< double >	weights

double	fieldwidth

double	fieldheight

HapticFieldConfig	config

data_broker::DataPackage	dbPackage

unsigned long	dbPushId

Additional Inherited Members
Public Attributes inherited from mars::interfaces::BaseGridIntersectionSensor
double	stepX

double	stepY

double	maxDistance

Public Attributes inherited from mars::interfaces::BaseSensor
unsigned long	id

std::string	name

unsigned long	updateRate

Protected Attributes inherited from mars::interfaces::SensorInterface
ControlCenter *	control

Protected Attributes inherited from mars::interfaces::BaseNodeSensor
unsigned long	attached_node

bool	calcAcceletaion

bool	calcSpeed

bool	calcPosition

bool	calcRotationSpeed

bool	calcOrientation

utils::Vector	acceleration

utils::Vector	speed

utils::Vector	position

utils::Vector	rotationSpeed

utils::Quaternion	orientation

Protected Attributes inherited from mars::interfaces::BaseArraySensor< double >
int	cols

int	rows

int	channels

std::vector< double >	data

Detailed Description

Definition at line 81 of file HapticFieldSensor.h.

Constructor & Destructor Documentation

◆ HapticFieldSensor()

mars::sim::HapticFieldSensor::HapticFieldSensor	(	interfaces::ControlCenter *	control,
		HapticFieldConfig	config
	)

Definition at line 59 of file HapticFieldSensor.cpp.

◆ ~HapticFieldSensor()

mars::sim::HapticFieldSensor::~HapticFieldSensor ( void )

Definition at line 139 of file HapticFieldSensor.cpp.

Member Function Documentation

◆ computeForces()

void mars::sim::HapticFieldSensor::computeForces ( )

private

Definition at line 253 of file HapticFieldSensor.cpp.

◆ getAsciiData()

int mars::sim::HapticFieldSensor::getAsciiData ( char * data ) const

virtual

Reimplemented from mars::interfaces::BaseSensor.

Definition at line 145 of file HapticFieldSensor.cpp.

◆ getSensorData()

int mars::sim::HapticFieldSensor::getSensorData ( interfaces::sReal ** data ) const

virtual

Reimplemented from mars::interfaces::BaseSensor.

Definition at line 156 of file HapticFieldSensor.cpp.

◆ instanciate()

BaseSensor * mars::sim::HapticFieldSensor::instanciate	(	interfaces::ControlCenter *	control,
		interfaces::BaseConfig *	config
	)

static

Definition at line 46 of file HapticFieldSensor.cpp.

◆ parseConfig()

BaseConfig * mars::sim::HapticFieldSensor::parseConfig	(	interfaces::ControlCenter *	control,
		configmaps::ConfigMap *	config
	)

static

Definition at line 52 of file HapticFieldSensor.cpp.

◆ produceData()

void mars::sim::HapticFieldSensor::produceData	(	const data_broker::DataInfo &	info,
		data_broker::DataPackage *	package,
		int	callbackParam
	)

virtual

Implements mars::data_broker::ProducerInterface.

Definition at line 206 of file HapticFieldSensor.cpp.

◆ receiveData()

void mars::sim::HapticFieldSensor::receiveData	(	const data_broker::DataInfo &	info,
		const data_broker::DataPackage &	dataPackage,
		int	callbackParam
	)

virtual

The DataBroker will call this method to notify the receiver of whenever the condition for which the receiver registered occur.

Parameters

info	Information about the DataPackage.
dataPackage	The DataPackage containing all the data.
callbackParam	The `int` the receiver passed during registration. The default (the receiver didn't provide a callbackParam) is 0. This can be used to easily distinguish different registrations.

Implements mars::data_broker::ReceiverInterface.

Definition at line 169 of file HapticFieldSensor.cpp.

◆ update()

void mars::sim::HapticFieldSensor::update ( std::vector< interfaces::draw_item > * drawItems )

virtual

This is the update function that updates the position of the vertices of all draw_item structs contained in drawItems.

Implements mars::interfaces::DrawInterface.

Definition at line 218 of file HapticFieldSensor.cpp.

Member Data Documentation

◆ config

HapticFieldConfig mars::sim::HapticFieldSensor::config

private

Definition at line 122 of file HapticFieldSensor.h.

◆ contact

bool mars::sim::HapticFieldSensor::contact

private

Definition at line 113 of file HapticFieldSensor.h.

◆ contactForce

double mars::sim::HapticFieldSensor::contactForce

private

Definition at line 112 of file HapticFieldSensor.h.

◆ contactForceIndex

int mars::sim::HapticFieldSensor::contactForceIndex

private

Definition at line 111 of file HapticFieldSensor.h.

◆ contactIndex

int mars::sim::HapticFieldSensor::contactIndex

private

Definition at line 111 of file HapticFieldSensor.h.

◆ dbPackage

data_broker::DataPackage mars::sim::HapticFieldSensor::dbPackage

private

Definition at line 123 of file HapticFieldSensor.h.

◆ dbPushId

unsigned long mars::sim::HapticFieldSensor::dbPushId

private

Definition at line 124 of file HapticFieldSensor.h.

◆ draw

interfaces::drawStruct mars::sim::HapticFieldSensor::draw

private

Definition at line 110 of file HapticFieldSensor.h.

◆ fieldheight

double mars::sim::HapticFieldSensor::fieldheight

private

Definition at line 121 of file HapticFieldSensor.h.

◆ fieldwidth

double mars::sim::HapticFieldSensor::fieldwidth

private

Definition at line 121 of file HapticFieldSensor.h.

◆ forces

std::vector<double> mars::sim::HapticFieldSensor::forces

private

Definition at line 119 of file HapticFieldSensor.h.

◆ haveUpdate

bool mars::sim::HapticFieldSensor::haveUpdate

private

Definition at line 114 of file HapticFieldSensor.h.

◆ positionIndices

long mars::sim::HapticFieldSensor::positionIndices[3]

private

Definition at line 115 of file HapticFieldSensor.h.

◆ ray

utils::Vector mars::sim::HapticFieldSensor::ray

private

Definition at line 118 of file HapticFieldSensor.h.

◆ rotationIndices

long mars::sim::HapticFieldSensor::rotationIndices[4]

private

Definition at line 116 of file HapticFieldSensor.h.

◆ sensorpoints

std::vector<utils::Vector> mars::sim::HapticFieldSensor::sensorpoints

private

Definition at line 117 of file HapticFieldSensor.h.

◆ weights

std::vector<double> mars::sim::HapticFieldSensor::weights

private

Definition at line 120 of file HapticFieldSensor.h.

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

/Developer/bob-learning-dev/simulation/mars/sim/src/sensors/HapticFieldSensor.h
/Developer/bob-learning-dev/simulation/mars/sim/src/sensors/HapticFieldSensor.cpp

Public Member Functions

Static Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ HapticFieldSensor()

◆ ~HapticFieldSensor()

Member Function Documentation

◆ computeForces()

◆ getAsciiData()

◆ getSensorData()

◆ instanciate()

◆ parseConfig()

◆ produceData()

◆ receiveData()

◆ update()

Member Data Documentation

◆ config

◆ contact

◆ contactForce

◆ contactForceIndex

◆ contactIndex

◆ dbPackage

◆ dbPushId

◆ draw

◆ fieldheight

◆ fieldwidth

◆ forces

◆ haveUpdate

◆ positionIndices

◆ ray

◆ rotationIndices

◆ sensorpoints

◆ weights