RaySensor Class Reference
[Sensors, Ray]
#include <RaySensor.hh>
Inheritance diagram for RaySensor:
Detailed Description
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).
Public Member Functions | |
| RaySensor (Body *body) | |
| virtual | ~RaySensor () |
| double | GetMinAngle () const |
| double | GetMaxAngle () const |
| double | GetMinRange () const |
| double | GetMaxRange () const |
| int | GetRayCount () const |
| int | GetRangeCount () const |
| void | SetRay (int index, const Vector3 &a, const Vector3 &b) |
| void | GetRay (int index, Vector3 &pos, Vector3 &dir) |
| Get ray parameters. | |
| double | GetRange (int index) |
| double | GetRetro (int index) |
| int | GetFiducial (int index) |
Protected Member Functions | |
| virtual void | LoadChild (XMLConfigNode *node) |
| Load the ray using parameter from an XMLConfig node. | |
| virtual void | InitChild () |
| Initialize the ray. | |
| virtual void | UpdateChild (UpdateParams ¶ms) |
| Update sensed values. | |
| virtual void | FiniChild () |
| Finalize the ray. | |
Constructor & Destructor Documentation
Constructor
- Parameters:
-
body The underlying collision test uses an ODE geom, so ray sensors must be attached to a body.
| virtual ~RaySensor | ( | ) | [virtual] |
Destructor
Member Function Documentation
| virtual void LoadChild | ( | XMLConfigNode * | node | ) | [protected, virtual] |
| double GetMinAngle | ( | ) | const |
Get the minimum angle
- Returns:
- The minimum angle
| double GetMaxAngle | ( | ) | const |
Get the maximum angle
- Returns:
- the maximum angle
| double GetMinRange | ( | ) | const |
Get the minimum range
- Returns:
- The minimum range
| double GetMaxRange | ( | ) | const |
Get the maximum range
- Returns:
- The maximum range
| int GetRayCount | ( | ) | const |
Get the ray count
- Returns:
- The number of rays
| int GetRangeCount | ( | ) | const |
Get the range count
- Returns:
- The number of ranges
Set ray parameters
- Parameters:
-
index Rayindex (from 0 to rayCount - 1). a,b Ray endpoints (initial and final points). These are in body-relative coordiantes.
Get ray parameters.
- Parameters:
-
index Ray index (from 0 to rayCount -1). pos,dir Ray position and direction.
| double GetRange | ( | int | index | ) |
Get detected range for a ray.
- Returns:
- Returns DBL_MAX for no detection.
| double GetRetro | ( | int | index | ) |
Get detected retro (intensity) value for a ray.
| int GetFiducial | ( | int | index | ) |
Get detected fiducial value for a ray.
The documentation for this class was generated from the following file: