Package org.robwork.sdurw_sensor

Class SensorModel

java.lang.Object

org.robwork.sdurw_kinematics.Stateless

org.robwork.sdurw_sensor.SensorModel

Direct Known Subclasses:

CameraModel, FTSensorModel, RGBDCameraModel, Scanner25DModel, Scanner2DModel, StereoCameraModel, TactileArrayModel

public class SensorModel
extends Stateless

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 Summary

Constructors

Constructor	Description
SensorModel(long cPtr, boolean cMemoryOwn)
SensorModel(java.lang.String name, FramePtr frame)	constructor
SensorModel(java.lang.String name, FramePtr frame, java.lang.String description)	constructor

Method Summary

Modifier and Type	Method	Description
void	attachTo(FramePtr frame)	Sets the frame to which the sensor should be attached
void	delete()
static long	getCPtr(SensorModel obj)
java.lang.String	getDescription()	returns a description of this sensor
Frame	getFrame()	The frame to which the sensor is attached. The frame can be NULL.
java.lang.String	getName()	returns the name of this sensor
PropertyMap	getPropertyMap()	gets the propertymap of this sensor
void	setDescription(java.lang.String description)	sets the description of this sensor
void	setName(java.lang.String name)	sets the name of this sensor

Methods inherited from class org.robwork.sdurw_kinematics.Stateless

getCPtr, getStateStructure, isRegistered, registerIn, registerIn, unregister

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

SensorModel

public SensorModel(long cPtr,
                   boolean cMemoryOwn)

SensorModel

public SensorModel(java.lang.String name,
                   FramePtr frame)

constructor

Parameters:

name - [in] the name of this sensor

frame - [in] the frame that the sensor is referenced to

SensorModel

public SensorModel(java.lang.String name,
                   FramePtr frame,
                   java.lang.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

Method Detail

getCPtr

public static long getCPtr(SensorModel obj)

delete

public void delete()

Overrides:

delete in class Stateless

setName

public void setName(java.lang.String name)

sets the name of this sensor

Parameters:

name - [in] name of this sensor

setDescription

public void setDescription(java.lang.String description)

sets the description of this sensor

Parameters:

description - [in] description of this sensor

getName

public java.lang.String getName()

returns the name of this sensor

Returns:

name of sensor

getDescription

public java.lang.String getDescription()

returns a description of this sensor

Returns:

reference to this sensors description

getFrame

public Frame getFrame()

The frame to which the sensor is attached.

The frame can be NULL.

attachTo

public void attachTo(FramePtr frame)

Sets the frame to which the sensor should be attached

Parameters:

frame - The frame, which can be NULL

getPropertyMap

public PropertyMap getPropertyMap()

gets the propertymap of this sensor