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RayProximity Class Reference Proximity sensor with one or more rays. More... #include <RayProximity.hh> Inheritance diagram for RayProximity: List of all members. Public Member Functions   RayProximity (World *world, Body *body, int rayCount)   Constructor. virtual  ~RayProximity ()   Destructor. void  SetRay (int index, GzVector a, GzVector b)   Set ray parameters. double  GetRange (int index)   Get detected range for a ray. double  GetRetro (int index)   Get detected retro (intensity) value for a ray. int  GetFiducial (int index)   Get detected fiducial value for a ray. void  Update ()   Update sensed values. Detailed Description Proximity sensor with one or more rays. This sensor cast rays into the world, tests for intersections, and reports the range to the nearest object. It is used by ranging sensor models (e.g., sonars and scanning laser range finders). Constructor & Destructor Documentation RayProximity::RayProximity (  World *  world, Body *  body, int  rayCount )    Constructor. Parameters: world  The world in which to place the sensor body  The underlying collision test uses an ODE geom, so ray sensors must be attached to a body. rayCount  Maximum number of rays in sensor. RayProximity::~RayProximity (   )  [virtual]   Destructor. Member Function Documentation void RayProximity::SetRay (  int  index, GzVector  a, GzVector  b )    Set ray parameters. Parameters: index  Ray index (from 0 to rayCount - 1). a,b  Ray endpoints (initial and final points). These are in body-relative coordiantes. double RayProximity::GetRange (  int  index  )    Get detected range for a ray. Returns: Returns DBL_MAX for no detection. double RayProximity::GetRetro (  int  index  )    Get detected retro (intensity) value for a ray. int RayProximity::GetFiducial (  int  index  )    Get detected fiducial value for a ray. void RayProximity::Update (   )    Update sensed values. The documentation for this class was generated from the following files: RayProximity.hh RayProximity.cc

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Last updated $Date: 2004/12/21 01:49:15 $

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