22 #ifndef OPENRAVE_SENSOR_H
23 #define OPENRAVE_SENSOR_H
44 ST_NumberofSensorTypes=8
58 virtual bool serialize(std::ostream& O)
const;
79 std::vector<RaveVector<dReal> >
ranges;
82 virtual bool serialize(std::ostream& O)
const;
91 virtual bool serialize(std::ostream& O)
const;
99 return ST_JointEncoder;
168 ActuatorSensorData() : state(AS_Undefined), measuredcurrent(0), measuredtemperature(0), appliedcurrent(0) {
194 LaserGeomData() : min_range(0), max_range(0), time_increment(0), time_scan(0) {
195 min_angle[0] = min_angle[1] = max_angle[0] = max_angle[1] = resolution[0] = resolution[1] = 0;
224 return ST_JointEncoder;
305 CC_RenderDataOn=0x20,
306 CC_RenderDataOff=0x21,
307 CC_RenderDataCheck=0x23,
308 CC_RenderGeometryOn=0x30,
309 CC_RenderGeometryOff=0x31,
310 CC_RenderGeometryCheck=0x32,
318 virtual int Configure(ConfigureCommand command,
bool blocking=
false) = 0;
329 virtual SensorGeometryPtr GetSensorGeometry(SensorType type=ST_Invalid) = 0;
335 virtual SensorDataPtr CreateSensorData(SensorType type=ST_Invalid) = 0;
342 virtual bool GetSensorData(SensorDataPtr psensordata) = 0;
345 virtual bool Supports(SensorType type) = 0;
351 virtual void SetTransform(
const Transform& trans) = 0;
360 virtual UserDataPtr RegisterDataCallback(SensorType type,
const boost::function<
void(SensorDataConstPtr)>& callback) OPENRAVE_DUMMY_IMPLEMENTATION;
363 virtual const std::
string& GetName()
const {
366 virtual void SetName(
const std::string& newname) {
374 virtual const char* GetHash()
const {