SensorModel Class Reference

a general sensormodel interface. The sensormodel describe the model of a sensor and define the data that are part of the State. Much like Device, which describe the kinematic model of a robot. A sensormodel should have a name id and be associated, referenced to some frame in the workcell. More...

#include <SensorModel.hpp>

Inherits Stateless.

Inherited by CameraModel, FTSensorModel, RGBDCameraModel, Scanner25DModel, Scanner2DModel, StereoCameraModel, and TactileArrayModel.

Public Types
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
	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...

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
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.

Detailed Description

a general sensormodel interface. The sensormodel describe the model of a sensor and define the data that are part of the State. Much like Device, which describe the kinematic model of a robot. A sensormodel should have a name id and be associated, referenced to some frame in the workcell.

Constructor & Destructor Documentation

SensorModel() [1/2]

SensorModel	(	const std::string &	name,
		rw::core::Ptr< kinematics::Frame >	frame
	)

constructor

Parameters

name	[in] the name of this sensor
frame	[in] the frame that the sensor is referenced to

SensorModel() [2/2]

SensorModel	(	const std::string &	name,
		rw::core::Ptr< kinematics::Frame >	frame,
		const std::string &	description
	)

constructor

Parameters

name	[in] the name of this sensor
frame	[in] the frame that the sensor is referenced to
description	[in] description of the sensor

Member Function Documentation

attachTo()

virtual void attachTo ( rw::core::Ptr< kinematics::Frame >  frame )

inlinevirtual

Sets the frame to which the sensor should be attached.

Parameters

frame

The frame, which can be NULL

getDescription()

const std::string& getDescription ( ) const

inline

returns a description of this sensor

Returns

reference to this sensors description

getFrame()

kinematics::Frame* getFrame ( ) const

inline

The frame to which the sensor is attached.

The frame can be NULL.

getName()

const std::string& getName ( ) const

inline

returns the name of this sensor

Returns

name of sensor

setDescription()

void setDescription ( const std::string &  description )

inline

sets the description of this sensor

Parameters

description

[in] description of this sensor

setName()

void setName ( const std::string &  name )

inline

sets the name of this sensor

Parameters

name	[in] name of this sensor

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

• SensorModel.hpp