[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>

Inheritance diagram for OpenRAVE::SensorBase:

[legend]

Collaboration diagram for OpenRAVE::SensorBase:

[legend]

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 Types
enum	SensorType { ST_Invalid =0, ST_Laser =1, ST_Camera =2, ST_JointEncoder =3, ST_Force6D =4, ST_IMU =5, ST_Odometry =6, ST_Tactile =7, ST_Actuator =8, ST_NumberofSensorTypes =8 }

enum	ConfigureCommand { CC_PowerOn =0x10, CC_PowerOff =0x11, CC_PowerCheck =0x12, CC_RenderDataOn =0x20, CC_RenderDataOff =0x21, CC_RenderDataCheck =0x23, CC_RenderGeometryOn =0x30, CC_RenderGeometryOff =0x31, CC_RenderGeometryCheck =0x32 }
	A set of commands used for run-time sensor configuration. More...

typedef geometry::RaveCameraIntrinsics < dReal >	CameraIntrinsics

typedef boost::shared_ptr < SensorBase::SensorData >	SensorDataPtr

typedef boost::shared_ptr < SensorBase::SensorData const >	SensorDataConstPtr

typedef boost::shared_ptr < SensorBase::SensorGeometry >	SensorGeometryPtr

typedef boost::shared_ptr < SensorBase::SensorGeometry const >	SensorGeometryConstPtr

Public Types inherited from OpenRAVE::InterfaceBase
typedef std::map< std::string, XMLReadablePtr, CaseInsensitiveCompare >	READERSMAP

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)

Public Member Functions inherited from OpenRAVE::InterfaceBase
	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

Protected Attributes inherited from OpenRAVE::InterfaceBase
std::string	__description

Additional Inherited Members
Protected Types inherited from OpenRAVE::InterfaceBase
typedef boost::function< bool(std::ostream &, std::istream &)>	InterfaceCommandFn
	The function to be executed for every command.

Protected Member Functions inherited from OpenRAVE::InterfaceBase
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

Detailed Description

[interface] A sensor measures physical properties from the environment. If not specified, method is not multi-thread safe. See Sensor Concepts.

Definition at line 30 of file sensor.h.

Member Typedef Documentation

typedef geometry::RaveCameraIntrinsics<dReal> OpenRAVE::SensorBase::CameraIntrinsics

Definition at line 47 of file sensor.h.

typedef boost::shared_ptr<SensorBase::SensorData const> OpenRAVE::SensorBase::SensorDataConstPtr

Definition at line 64 of file sensor.h.

typedef boost::shared_ptr<SensorBase::SensorData> OpenRAVE::SensorBase::SensorDataPtr

Definition at line 63 of file sensor.h.

typedef boost::shared_ptr<SensorBase::SensorGeometry const> OpenRAVE::SensorBase::SensorGeometryConstPtr

Definition at line 189 of file sensor.h.

typedef boost::shared_ptr<SensorBase::SensorGeometry> OpenRAVE::SensorBase::SensorGeometryPtr

Definition at line 188 of file sensor.h.

Member Enumeration Documentation

enum OpenRAVE::SensorBase::ConfigureCommand

A set of commands used for run-time sensor configuration.

Enumerator:

CC_PowerOn	turns the sensor on, starts gathering data and using processor cycles. If the power is already on, servers as a reset. (off by default)
CC_PowerOff	turns the sensor off, stops gathering data (off by default).
CC_PowerCheck	returns whether power is on
CC_RenderDataOn	turns on any rendering of the sensor data (off by default)
CC_RenderDataOff	turns off any rendering of the sensor data (off by default)
CC_RenderDataCheck	returns whether data rendering is on
CC_RenderGeometryOn	turns on any rendering of the sensor geometry (on by default)
CC_RenderGeometryOff	turns off any rendering of the sensor geometry (on by default)
CC_RenderGeometryCheck	returns whether geometry rendering is on

Definition at line 300 of file sensor.h.

enum OpenRAVE::SensorBase::SensorType

Enumerator:

ST_Invalid
ST_Laser
ST_Camera
ST_JointEncoder
ST_Force6D
ST_IMU
ST_Odometry
ST_Tactile
ST_Actuator
ST_NumberofSensorTypes

Definition at line 33 of file sensor.h.

Constructor & Destructor Documentation

OpenRAVE::SensorBase::SensorBase ( EnvironmentBasePtr penv )

inline

Definition at line 289 of file sensor.h.

virtual OpenRAVE::SensorBase::~SensorBase ( )

inlinevirtual

Definition at line 291 of file sensor.h.

Member Function Documentation

virtual int OpenRAVE::SensorBase::Configure	(	ConfigureCommand	command,
		bool	blocking = `false`
	)

pure virtual

Configures properties of the sensor like power.

Parameters

type	ConfigureCommand
blocking	If set to true, makes sure the configuration ends before this function returns.(might cause problems if environment is locked).

Exceptions

openrave_exception if command doesn't succeed

virtual SensorDataPtr OpenRAVE::SensorBase::CreateSensorData ( SensorType type = ST_Invalid )

pure virtual

Creates the sensor data to be specifically used by this class.

Parameters

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.

Returns: new SensorData class

static InterfaceType OpenRAVE::SensorBase::GetInterfaceTypeStatic ( )

inlinestatic

return the static interface type this class points to (used for safe casting)

Definition at line 295 of file sensor.h.

virtual const std::string& OpenRAVE::SensorBase::GetName ( ) const

inlinevirtual

Returns: the name of the sensor

Definition at line 363 of file sensor.h.

virtual bool OpenRAVE::SensorBase::GetSensorData ( SensorDataPtr psensordata )

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.

Parameters

psensordata A pointer to SensorData returned from CreateSensorData, the plugin will use psensordata->GetType() in order to return the correctly supported type.

virtual SensorGeometryPtr OpenRAVE::SensorBase::GetSensorGeometry ( SensorType type = ST_Invalid )

pure virtual

Returns the sensor geometry. This method is thread safe.

Parameters

type	the requested sensor type to create. A sensor can support many types. If type is ST_Invalid, then returns a data structure

Returns: sensor geometry pointer, use delete to destroy it

virtual Transform OpenRAVE::SensorBase::GetTransform ( )

pure virtual

the position of the sensor in the world coordinate system

virtual UserDataPtr OpenRAVE::SensorBase::RegisterDataCallback	(	SensorType	type,
		const boost::function< void(SensorDataConstPtr)> &	callback
	)

virtual

Register a callback whenever new sensor data comes in.

Parameters

type	the sensor type to register for
callback	the user function to call, note that this might block the thread generating/receiving sensor data

virtual void OpenRAVE::SensorBase::SetName ( const std::string & newname )

inlinevirtual

Definition at line 366 of file sensor.h.

virtual void OpenRAVE::SensorBase::SetTransform ( const Transform & trans )

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

Parameters

trans - The transform defining the frame of the sensor.

virtual bool OpenRAVE::SensorBase::SimulationStep ( dReal fTimeElapsed )

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

virtual bool OpenRAVE::SensorBase::Supports ( SensorType type )

pure virtual

returns true if sensor supports a particular sensor type

Member Data Documentation

std::string OpenRAVE::SensorBase::_name

protected

name of the sensor

Definition at line 371 of file sensor.h.

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

/var/lib/jenkins/workspace/openrave_documentation/openrave/include/openrave/sensor.h (2013-03-18 10:33:00 +0900, commit:334d202)

Classes

Public Types

Public Member Functions

Static Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation