#include <RaySensor.h>

Public Member Functions
	RaySensor (interfaces::ControlCenter *control, RayConfig config)

	~RaySensor (void)

std::vector< double >	getSensorData () const

int	getSensorData (double **) 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	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...

virtual configmaps::ConfigMap	createConfig () const

const RayConfig &	getConfig () const

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

virtual	~BasePolarIntersectionSensor ()

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

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::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::DrawInterface
virtual	~DrawInterface ()

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
RayConfig	config

std::vector< utils::Vector >	directions

bool	have_update

long	positionIndices [3]

long	rotationIndices [4]

Additional Inherited Members
Public Attributes inherited from mars::interfaces::BasePolarIntersectionSensor
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::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

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

Detailed Description

Definition at line 71 of file RaySensor.h.

Constructor & Destructor Documentation

◆ RaySensor()

mars::sim::RaySensor::RaySensor	(	interfaces::ControlCenter *	control,
		RayConfig	config
	)

Definition at line 55 of file RaySensor.cpp.

◆ ~RaySensor()

mars::sim::RaySensor::~RaySensor ( void )

Definition at line 130 of file RaySensor.cpp.

Member Function Documentation

◆ createConfig()

ConfigMap mars::sim::RaySensor::createConfig ( ) const

virtual

Reimplemented from mars::interfaces::BaseSensor.

Definition at line 249 of file RaySensor.cpp.

◆ getConfig()

const RayConfig & mars::sim::RaySensor::getConfig ( ) const

Definition at line 269 of file RaySensor.cpp.

◆ getSensorData() [1/2]

std::vector< double > mars::sim::RaySensor::getSensorData ( ) const

Definition at line 137 of file RaySensor.cpp.

◆ getSensorData() [2/2]

int mars::sim::RaySensor::getSensorData ( double ** data_ ) const

virtual

Reimplemented from mars::interfaces::BasePolarIntersectionSensor.

Definition at line 146 of file RaySensor.cpp.

◆ instanciate()

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

static

Definition at line 49 of file RaySensor.cpp.

◆ parseConfig()

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

static

Definition at line 206 of file RaySensor.cpp.

◆ receiveData()

void mars::sim::RaySensor::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 154 of file RaySensor.cpp.

◆ update()

void mars::sim::RaySensor::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 184 of file RaySensor.cpp.

Member Data Documentation

◆ config

RayConfig mars::sim::RaySensor::config

private

Definition at line 97 of file RaySensor.h.

◆ directions

std::vector<utils::Vector> mars::sim::RaySensor::directions

private

Definition at line 98 of file RaySensor.h.

◆ have_update

bool mars::sim::RaySensor::have_update

private

Definition at line 99 of file RaySensor.h.

◆ positionIndices

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

private

Definition at line 101 of file RaySensor.h.

◆ rotationIndices

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

private

Definition at line 102 of file RaySensor.h.

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

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

Public Member Functions

Static Public Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ RaySensor()

◆ ~RaySensor()

Member Function Documentation

◆ createConfig()

◆ getConfig()

◆ getSensorData() [1/2]

◆ getSensorData() [2/2]

◆ instanciate()

◆ parseConfig()

◆ receiveData()

◆ update()

Member Data Documentation

◆ config

◆ directions

◆ have_update

◆ positionIndices

◆ rotationIndices