[interface] A sensor measures physical properties from the environment. If not specified, method is not multi-thread safe. See Sensor Concepts. More...
#include <sensor.h>
Classes | |
class | ActuatorGeomData |
class | ActuatorSensorData |
An actuator for modeling motors and other mechanisms that produce torque/force. The actuator has only one degree of freedom. More... | |
class | CameraGeomData |
class | CameraSensorData |
class | Force6DGeomData |
class | Force6DSensorData |
Stores force data. More... | |
class | IMUGeomData |
class | IMUSensorData |
Stores IMU data. More... | |
class | JointEncoderGeomData |
class | JointEncoderSensorData |
Stores joint angles and EE position. More... | |
class | LaserGeomData |
class | LaserSensorData |
class | OdometryGeomData |
class | OdometrySensorData |
odometry data storing full 6D pose and velocity More... | |
class | SensorData |
used to pass sensor data around More... | |
class | SensorGeometry |
permanent properties of the sensors More... | |
class | TactileGeomData |
class | TactileSensorData |
tactle data More... | |
Public Member Functions | |
SensorBase (EnvironmentBasePtr penv) | |
virtual | ~SensorBase () |
virtual int | Configure (ConfigureCommand command, bool blocking=false)=0 |
Configures properties of the sensor like power. | |
virtual bool | SimulationStep (dReal fTimeElapsed) OPENRAVE_DUMMY_IMPLEMENTATION |
Simulate one step forward for sensors. | |
virtual SensorGeometryPtr | GetSensorGeometry (SensorType type=ST_Invalid)=0 |
Returns the sensor geometry. This method is thread safe. | |
virtual SensorDataPtr | CreateSensorData (SensorType type=ST_Invalid)=0 |
Creates the sensor data to be specifically used by this class. | |
virtual bool | GetSensorData (SensorDataPtr psensordata)=0 |
Copy the most recent published data of the sensor given the type. | |
virtual bool | Supports (SensorType type)=0 |
returns true if sensor supports a particular sensor type | |
virtual void | SetTransform (const Transform &trans)=0 |
Set the transform of a sensor (global coordinate system). | |
virtual Transform | GetTransform ()=0 |
the position of the sensor in the world coordinate system | |
virtual UserDataPtr | RegisterDataCallback (SensorType type, const boost::function< void(SensorDataConstPtr)> &callback) OPENRAVE_DUMMY_IMPLEMENTATION |
Register a callback whenever new sensor data comes in. | |
virtual const std::string & | GetName () const |
virtual void | SetName (const std::string &newname) |
![]() | |
InterfaceBase (InterfaceType type, EnvironmentBasePtr penv) | |
virtual | ~InterfaceBase () |
InterfaceType | GetInterfaceType () const |
const std::string & | GetXMLId () const |
const std::string & | GetPluginName () const |
EnvironmentBasePtr | GetEnv () const |
const READERSMAP & | GetReadableInterfaces () const |
Returns the raw map reference, this is not multithread safe and the GetInterfaceMutex should be locked before using. | |
virtual XMLReadablePtr | GetReadableInterface (const std::string &xmltag) const |
Returns the readable interface. [multi-thread safe] | |
virtual XMLReadablePtr | SetReadableInterface (const std::string &xmltag, XMLReadablePtr readable) |
Set a new readable interface and return the previously set interface if it exists. [multi-thread safe] | |
virtual const std::string & | GetDescription () const |
Documentation of the interface in reStructuredText format. See Documenting Interfaces. [multi-thread safe] | |
virtual void | SetDescription (const std::string &description) |
sets a description [multi-thread safe] | |
virtual void | SetUserData (const std::string &key, UserDataPtr data) const |
set user data for a specific key. [multi-thread safe] | |
virtual UserDataPtr | GetUserData (const std::string &key=std::string()) const |
return the user custom data [multi-thread safe] | |
virtual bool | RemoveUserData (const std::string &key) const |
removes a user data pointer. if user data pointer does not exist, then return 0, otherwise 1. [multi-thread safe] | |
virtual void | SetUserData (UserDataPtr data) RAVE_DEPRECATED |
virtual const std::string & | GetURI () const |
the URI used to load the interface (sometimes this is not possible if the definition lies inside an environment file). [multi-thread safe] | |
virtual const std::string & | GetXMLFilename () const |
virtual void | Clone (InterfaceBaseConstPtr preference, int cloningoptions) |
Clone the contents of an interface to the current interface. | |
virtual bool | SendCommand (std::ostream &os, std::istream &is) |
Used to send special commands to the interface and receive output. | |
virtual void | Serialize (BaseXMLWriterPtr writer, int options=0) const |
serializes the interface | |
Static Public Member Functions | |
static InterfaceType | GetInterfaceTypeStatic () |
return the static interface type this class points to (used for safe casting) | |
Protected Attributes | |
std::string | _name |
name of the sensor | |
![]() | |
std::string | __description |
Additional Inherited Members | |
![]() | |
typedef boost::function< bool(std::ostream &, std::istream &)> | InterfaceCommandFn |
The function to be executed for every command. | |
![]() | |
virtual void | RegisterCommand (const std::string &cmdname, InterfaceCommandFn fncmd, const std::string &strhelp) |
Registers a command and its help string. [multi-thread safe] | |
virtual void | UnregisterCommand (const std::string &cmdname) |
Unregisters the command. [multi-thread safe] | |
virtual boost::shared_mutex & | GetInterfaceMutex () const |
[interface] A sensor measures physical properties from the environment. If not specified, method is not multi-thread safe. See Sensor Concepts.
typedef boost::shared_ptr<SensorBase::SensorData const> OpenRAVE::SensorBase::SensorDataConstPtr |
typedef boost::shared_ptr<SensorBase::SensorData> OpenRAVE::SensorBase::SensorDataPtr |
typedef boost::shared_ptr<SensorBase::SensorGeometry const> OpenRAVE::SensorBase::SensorGeometryConstPtr |
typedef boost::shared_ptr<SensorBase::SensorGeometry> OpenRAVE::SensorBase::SensorGeometryPtr |
A set of commands used for run-time sensor configuration.
|
inline |
|
inlinevirtual |
|
pure virtual |
Configures properties of the sensor like power.
type | ConfigureCommand |
blocking | If set to true, makes sure the configuration ends before this function returns.(might cause problems if environment is locked). |
openrave_exception | if command doesn't succeed |
|
pure virtual |
Creates the sensor data to be specifically used by this class.
type | the requested sensor type to create. A sensor can support many types. If type is ST_Invalid, then returns a data structure of the type most representative of this sensor. |
|
inlinestatic |
|
inlinevirtual |
|
pure virtual |
Copy the most recent published data of the sensor given the type.
Once GetSensorData returns, the caller has full unrestricted access to the data. This method is thread safe.
psensordata | A pointer to SensorData returned from CreateSensorData, the plugin will use psensordata->GetType() in order to return the correctly supported type. |
|
pure virtual |
Returns the sensor geometry. This method is thread safe.
type | the requested sensor type to create. A sensor can support many types. If type is ST_Invalid, then returns a data structure |
|
pure virtual |
the position of the sensor in the world coordinate system
|
virtual |
Register a callback whenever new sensor data comes in.
type | the sensor type to register for |
callback | the user function to call, note that this might block the thread generating/receiving sensor data |
|
inlinevirtual |
|
pure virtual |
Set the transform of a sensor (global coordinate system).
Sensors attached to the robot have their transforms automatically set every time the robot is moved
trans | - The transform defining the frame of the sensor. |
|
virtual |
Simulate one step forward for sensors.
Only valid if this sensor is simulation based. A sensor hooked up to a real device can ignore this call
|
pure virtual |
returns true if sensor supports a particular sensor type
|
protected |