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< Scanner25DModel >	Ptr
	smart pointer type to this class
Public Types inherited from SensorModel
typedef rw::core::Ptr< SensorModel >	Ptr
	smart pointer type
Public Types inherited from Stateless
typedef rw::core::Ptr< Stateless >	Ptr
	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::PointCloud &	getScan (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::Frame *	getFrame () 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::PropertyMap &	getPropertyMap ()
	gets the propertymap of this sensor
const rw::core::PropertyMap &	getPropertyMap () 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

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

• Scanner25DModel.hpp