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gazebo::RayGeom

RayGeom Class Reference
[Ray geom]

#include <RayGeom.hh>

Inheritance diagram for RayGeom:

Geom Entity List of all members.

Detailed Description

Ray geom.


Public Member Functions

 RayGeom (Body *body, bool displayRays)
 Constructor.
virtual ~RayGeom ()
 Destructor.
void SetPoints (const Vector3 &posStart, const Vector3 &posEnd)
 Set the ray based on starting and ending points relative to the body.
void GetRelativePoints (Vector3 &posA, Vector3 &posB)
 Get the relative starting and ending points.
void GetGlobalPoints (Vector3 &posA, Vector3 &posB)
 Get the global starting and ending points.
void SetLength (double len)
 Set the length of the ray.
double GetLength () const
 Get the length of the ray.
void Update ()
 Update the tay geom.
void SetRetro (float retro)
 Set the retro-reflectivness detected by this ray.
float GetRetro () const
 Get the retro-reflectivness detected by this ray.
void SetFiducial (int fid)
 Set the fiducial id detected by this ray.
int GetFiducial () const
 Get the fiducial id detected by this ray.

Protected Member Functions

virtual void LoadChild (XMLConfigNode *node)
 Load thte ray.

Constructor & Destructor Documentation

RayGeom ( Body *  body,
bool  displayRays 
)

Constructor.

Parameters:
body Body the ray is attached to
displayRays Indicates if the rays should be displayed when rendering images

Member Function Documentation

void SetPoints ( const Vector3 &  posStart,
const Vector3 &  posEnd 
)

Set the ray based on starting and ending points relative to the body.

Parameters:
posStart Start position, relative the body
posEnd End position, relative to the body

void GetRelativePoints ( Vector3 &  posA,
Vector3 &  posB 
)

Get the relative starting and ending points.

Parameters:
posA Returns the starting point
posB Returns the ending point

void GetGlobalPoints ( Vector3 &  posA,
Vector3 &  posB 
)

Get the global starting and ending points.

Parameters:
posA Returns the starting point
posB Returns the ending point

void SetLength ( double  len  ) 

Set the length of the ray.

Parameters:
len Length of the array

The documentation for this class was generated from the following file:
Last updated Aug 04 2007