Klamp't  0.8.1
Public Member Functions | Public Attributes | List of all members
TiltSensor Class Reference

Simulates a tilt sensor that measures the angle of a reference direction about certain axes. More...

#include <InertialSensors.h>

Inheritance diagram for TiltSensor:
SensorBase

Public Member Functions

virtual const char * Type () const
 
virtual void Simulate (ControlledRobotSimulator *robot, WorldSimulation *sim)
 Called whenever the sensor is updated from the simulaton.
 
virtual void SimulateKinematic (Robot &robot, RobotWorld &world)
 Updates the sensor for a kinematic world. Useful for non-simulation debugging.
 
virtual void Advance (double dt)
 Advances to the next time step with duration dt elapsed.
 
virtual void Reset ()
 Should be overridden if the sensor is stateful to reset to an initial state.
 
virtual void MeasurementNames (vector< string > &names) const
 Must be overridden to produce a list of names of each measurement.
 
virtual void GetMeasurements (vector< double > &values) const
 Must be overridden to returns a list of all measurements.
 
virtual void SetMeasurements (const vector< double > &values)
 
virtual map< string, string > Settings () const
 Returns a map of all current name-value pairs of the sensor's settings.
 
virtual bool GetSetting (const string &name, string &str) const
 Get a named setting. Returns false if the name is not supported.
 
virtual bool SetSetting (const string &name, const string &str)
 
- Public Member Functions inherited from SensorBase
virtual bool ReadState (File &f)
 
virtual bool WriteState (File &f) const
 
virtual void GetInternalState (vector< double > &state) const
 Any other state besides measurements/settings that you might want to store. Used in ReadState.
 
virtual void SetInternalState (const vector< double > &state)
 Any other state besides measurements/settings that you might want to store. Used in WriteState.
 
virtual void DrawGL (const Robot &robot, const vector< double > &measurements)
 

Public Attributes

int link
 
Vector3 referenceDir
 
Matrix3 Rsensor
 Orientation of unit on link.
 
bool hasAxis [3]
 true if tilt is measured on the x, y, z axes
 
Vector3 resolution
 
Vector3 variance
 
bool hasVelocity
 
Vector3 alocal
 
Vector3 wlocal
 
- Public Attributes inherited from SensorBase
string name
 
double rate
 

Detailed Description

Simulates a tilt sensor that measures the angle of a reference direction about certain axes.

Configurable settings:

Member Function Documentation

virtual void TiltSensor::SetMeasurements ( const vector< double > &  values)
virtual

Updates the internal measurement vector. Should be overridden to correctly restore state using ReadState(), or to visualize a physical robot's sensors.

Reimplemented from SensorBase.

virtual bool TiltSensor::SetSetting ( const string &  name,
const string &  str 
)
virtual

Set a named setting. Returns false if the name is not supported, or the value is formatted incorrectly

Reimplemented from SensorBase.


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