RobWorkProject  23.9.11-
Classes | Public Types | Public Member Functions | Protected Attributes | List of all members
Scanner25DModel Class Reference

Model of a 25D (2D with depth information) scanner. The images are essentially point clouds. More...

#include <Scanner25DModel.hpp>

Inherits SensorModel.

Classes

class  Scanner25DModelCache
 cache object for storing relevant state information More...
 

Public Types

typedef rw::core::Ptr< Scanner25DModelPtr
 smart pointer type to this class
 
- Public Types inherited from SensorModel
typedef rw::core::Ptr< SensorModelPtr
 smart pointer type
 
- Public Types inherited from Stateless
typedef rw::core::Ptr< StatelessPtr
 Smart pointer type for Stateless.
 

Public Member Functions

 Scanner25DModel (const std::string &name, int width, int height, rw::core::Ptr< rw::kinematics::Frame > frame)
 constructor More...
 
virtual ~Scanner25DModel ()
 Destructor. Closes scanner connection if not already closed.
 
rw::geometry::PointCloudgetScan (const rw::kinematics::State &state)
 get handle to point cloud data in state. More...
 
void setScan (const rw::geometry::PointCloud &data, const rw::kinematics::State &state)
 set point cloud data in state More...
 
int getWidth () const
 width of images taken with 25 sensor
 
int getHeight () const
 height of images taken with 25 sensor
 
std::pair< double, double > getRange () const
 get the min and maximum depth of this scanner in meters
 
void setRange (double min, double max)
 set the min and maximum depth of this scanner in meters
 
void setRange (const std::pair< double, double > &range)
 set the min and maximum depth of this scanner in meters
 
- Public Member Functions inherited from SensorModel
 SensorModel (const std::string &name, rw::core::Ptr< kinematics::Frame > frame)
 constructor More...
 
 SensorModel (const std::string &name, rw::core::Ptr< kinematics::Frame > frame, const std::string &description)
 constructor More...
 
virtual ~SensorModel ()
 destructor
 
void setName (const std::string &name)
 sets the name of this sensor More...
 
void setDescription (const std::string &description)
 sets the description of this sensor More...
 
const std::string & getName () const
 returns the name of this sensor More...
 
const std::string & getDescription () const
 returns a description of this sensor More...
 
kinematics::FramegetFrame () const
 The frame to which the sensor is attached. More...
 
virtual void attachTo (rw::core::Ptr< kinematics::Frame > frame)
 Sets the frame to which the sensor should be attached. More...
 
rw::core::PropertyMapgetPropertyMap ()
 gets the propertymap of this sensor
 
const rw::core::PropertyMapgetPropertyMap () const
 gets the propertymap of this sensor
 
- Public Member Functions inherited from Stateless
virtual ~Stateless ()
 destructor
 
virtual void registerIn (State &state)
 initialize this stateless data to a specific state More...
 
virtual void registerIn (StateStructure::Ptr state)
 register this stateless object in a statestructure.
 
virtual void unregister ()
 unregisters all state data of this stateless object
 
StateStructure::Ptr getStateStructure ()
 Get the state structure. More...
 
const StateStructure::Ptr getStateStructure () const
 Get the state structure. More...
 
bool isRegistered ()
 Check if object has registered its state. More...
 

Protected Attributes

rw::kinematics::StatelessData< int > _sstate
 
int _width
 
int _height
 
double _rangeMin
 
double _rangeMax
 
- Protected Attributes inherited from Stateless
bool _registered
 True if object has registered its state.
 
std::vector< rw::core::Ptr< StateData > > _datas
 Data.
 
StateStructure::Ptr _stateStruct
 The state structure.
 

Additional Inherited Members

- Protected Member Functions inherited from Stateless
 Stateless ()
 constructor
 
template<class T >
void add (StatelessData< T > &data)
 implementations of sensor should add all their stateless data on initialization
 
void add (StateData *data)
 Add data. More...
 
void add (rw::core::Ptr< StateData > data)
 implementations of sensor should add all their state data on initialization
 

Detailed Description

Model of a 25D (2D with depth information) scanner. The images are essentially point clouds.

Constructor & Destructor Documentation

◆ Scanner25DModel()

Scanner25DModel ( const std::string &  name,
int  width,
int  height,
rw::core::Ptr< rw::kinematics::Frame frame 
)

constructor

Parameters
frame[in] the frame that the scanner is attached to
name[in] name of scanner sensor
width
height

Member Function Documentation

◆ getScan()

rw::geometry::PointCloud& getScan ( const rw::kinematics::State state)

get handle to point cloud data in state.

Parameters
state[in] the state with point cloud data

◆ setScan()

void setScan ( const rw::geometry::PointCloud data,
const rw::kinematics::State state 
)

set point cloud data in state

Parameters
data[in] point cloud data to set
state[in] state in which to set the point cloud

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