#include <ScanningSonar.h>

Public Member Functions
	ScanningSonar (interfaces::ControlCenter *control, ScanningSonarConfig _config)

	~ScanningSonar (void)

virtual int	getSensorData (double **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	preGraphicsUpdate (void)

virtual configmaps::ConfigMap	createConfig ()

void	setPingPongConfig (bool ping_pong_mode, float left_limit, float right_limit)

Public Member Functions inherited from mars::interfaces::BaseCameraSensor< double >
	BaseCameraSensor (unsigned long id, std::string name, int cols, int rows, int nChannels, bool depthImage)

virtual	~BaseCameraSensor ()

bool	isDepthImage ()

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::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

virtual int	getAsciiData (char *data) const

void	getCoreExchange (core_objects_exchange *obj) const

virtual configmaps::ConfigMap	createConfig () const

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

virtual	~SensorInterface ()

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

virtual	~ReceiverInterface ()

Public Member Functions inherited from mars::interfaces::GraphicsUpdateInterface
	GraphicsUpdateInterface (void)

virtual	~GraphicsUpdateInterface (void)

virtual void	postGraphicsUpdate (void)

Static Public Member Functions
static interfaces::BaseSensor *	instanciate (interfaces::ControlCenter control, interfaces::BaseConfig config)

static interfaces::BaseConfig *	parseConfig (interfaces::ControlCenter control, configmaps::ConfigMap config)

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

Private Attributes
ScanningSonarConfig	config

interfaces::GraphicsWindowInterface *	gw

interfaces::GraphicsCameraInterface *	gc

long	dbPosIndices [3]

long	dbRotIndices [4]

unsigned long	nodeID [2]

unsigned long	jointID [2]

unsigned long	motorID

unsigned long	rayID

unsigned long	cam_window_id

bool	switch_motor_direction

utils::Quaternion	head_orientation

utils::Vector	head_position

unsigned int	attached_motor

RaySensor *	raySensor

Additional Inherited Members
Public Attributes inherited from mars::interfaces::BaseSensor
unsigned long	id

std::string	name

unsigned long	updateRate

Protected Attributes inherited from mars::interfaces::BaseCameraSensor< double >
bool	depthImage

unsigned long	id

std::string	name

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

int	rows

int	channels

std::vector< double >	data

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::SensorInterface
ControlCenter *	control

Detailed Description

Definition at line 90 of file ScanningSonar.h.

Constructor & Destructor Documentation

◆ ScanningSonar()

mars::sim::ScanningSonar::ScanningSonar	(	interfaces::ControlCenter *	control,
		ScanningSonarConfig	_config
	)

Definition at line 56 of file ScanningSonar.cpp.

◆ ~ScanningSonar()

mars::sim::ScanningSonar::~ScanningSonar ( void )

Definition at line 190 of file ScanningSonar.cpp.

Member Function Documentation

◆ createConfig()

ConfigMap mars::sim::ScanningSonar::createConfig ( )

virtual

Definition at line 392 of file ScanningSonar.cpp.

◆ getSensorData()

int mars::sim::ScanningSonar::getSensorData ( double ** data ) const

virtual

Reimplemented from mars::interfaces::BaseSensor.

Definition at line 195 of file ScanningSonar.cpp.

◆ instanciate()

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

static

Definition at line 49 of file ScanningSonar.cpp.

◆ parseConfig()

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

static

Definition at line 293 of file ScanningSonar.cpp.

◆ preGraphicsUpdate()

void mars::sim::ScanningSonar::preGraphicsUpdate ( void )

virtual

Reimplemented from mars::interfaces::GraphicsUpdateInterface.

Definition at line 241 of file ScanningSonar.cpp.

◆ receiveData()

void mars::sim::ScanningSonar::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 244 of file ScanningSonar.cpp.

◆ setPingPongConfig()

void mars::sim::ScanningSonar::setPingPongConfig	(	bool	ping_pong_mode,
		float	left_limit,
		float	right_limit
	)

Definition at line 396 of file ScanningSonar.cpp.

Member Data Documentation

◆ attached_motor

unsigned int mars::sim::ScanningSonar::attached_motor

private

Definition at line 131 of file ScanningSonar.h.

◆ cam_window_id

unsigned long mars::sim::ScanningSonar::cam_window_id

private

Definition at line 126 of file ScanningSonar.h.

◆ config

ScanningSonarConfig mars::sim::ScanningSonar::config

private

Definition at line 117 of file ScanningSonar.h.

◆ dbPosIndices

long mars::sim::ScanningSonar::dbPosIndices[3]

private

Definition at line 120 of file ScanningSonar.h.

◆ dbRotIndices

long mars::sim::ScanningSonar::dbRotIndices[4]

private

Definition at line 121 of file ScanningSonar.h.

◆ gc

interfaces::GraphicsCameraInterface* mars::sim::ScanningSonar::gc

private

Definition at line 119 of file ScanningSonar.h.

◆ gw

interfaces::GraphicsWindowInterface* mars::sim::ScanningSonar::gw

private

Definition at line 118 of file ScanningSonar.h.

◆ head_orientation

utils::Quaternion mars::sim::ScanningSonar::head_orientation

private

Definition at line 129 of file ScanningSonar.h.

◆ head_position

utils::Vector mars::sim::ScanningSonar::head_position

private

Definition at line 130 of file ScanningSonar.h.

◆ jointID

unsigned long mars::sim::ScanningSonar::jointID[2]

private

Definition at line 123 of file ScanningSonar.h.

◆ motorID

unsigned long mars::sim::ScanningSonar::motorID

private

Definition at line 124 of file ScanningSonar.h.

◆ nodeID

unsigned long mars::sim::ScanningSonar::nodeID[2]

private

Definition at line 122 of file ScanningSonar.h.

◆ rayID

unsigned long mars::sim::ScanningSonar::rayID

private

Definition at line 125 of file ScanningSonar.h.

◆ raySensor

RaySensor* mars::sim::ScanningSonar::raySensor

private

Definition at line 132 of file ScanningSonar.h.

◆ switch_motor_direction

bool mars::sim::ScanningSonar::switch_motor_direction

private

Definition at line 127 of file ScanningSonar.h.

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

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

Public Member Functions

Static Public Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ ScanningSonar()

◆ ~ScanningSonar()

Member Function Documentation

◆ createConfig()

◆ getSensorData()

◆ instanciate()

◆ parseConfig()

◆ preGraphicsUpdate()

◆ receiveData()

◆ setPingPongConfig()

Member Data Documentation

◆ attached_motor

◆ cam_window_id

◆ config

◆ dbPosIndices

◆ dbRotIndices

◆ gc

◆ gw

◆ head_orientation

◆ head_position

◆ jointID

◆ motorID

◆ nodeID

◆ rayID

◆ raySensor

◆ switch_motor_direction