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OpenRAVE::SensorSystemBase Class Referenceabstract

[interface] Used to manage the creation and destruction of bodies. See Sensor System Concepts. More...

#include <sensorsystem.h>

Inheritance diagram for OpenRAVE::SensorSystemBase:
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Collaboration diagram for OpenRAVE::SensorSystemBase:
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Public Member Functions

 SensorSystemBase (EnvironmentBasePtr penv)
 
virtual ~SensorSystemBase ()
 
virtual void Reset ()=0
 resets the system and stops managing all objects. Any objects that are not locked, are deleted
 
virtual void AddRegisteredBodies (const std::vector< KinBodyPtr > &vbodies)=0
 automatically register bodies that have some type of SensorSystem data (usually done through xml)
 
virtual KinBody::ManageDataPtr AddKinBody (KinBodyPtr pbody, XMLReadableConstPtr pdata)=0
 
virtual bool RemoveKinBody (KinBodyPtr pbody)=0
 remove body from sensory system. If bDestroy is true, will also deallocate the memory
 
virtual bool IsBodyPresent (KinBodyPtr pbody)=0
 returns true if body is present
 
virtual bool EnableBody (KinBodyPtr pbody, bool bEnable)=0
 enable/disable a body from being updated by the sensor system
 
virtual bool SwitchBody (KinBodyPtr pbody1, KinBodyPtr pbody2)=0
 
- 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 READERSMAPGetReadableInterfaces () 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 Member Functions

virtual void SetManageData (KinBodyPtr pbody, KinBody::ManageDataPtr data)
 
- 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
 

Additional Inherited Members

- Public Types inherited from OpenRAVE::InterfaceBase
typedef std::map< std::string,
XMLReadablePtr,
CaseInsensitiveCompare
READERSMAP
 
- Protected Types inherited from OpenRAVE::InterfaceBase
typedef boost::function< bool(std::ostream
&, std::istream &)> 
InterfaceCommandFn
 The function to be executed for every command.
 
- Protected Attributes inherited from OpenRAVE::InterfaceBase
std::string __description
 

Detailed Description

[interface] Used to manage the creation and destruction of bodies. See Sensor System Concepts.

Definition at line 30 of file sensorsystem.h.

Constructor & Destructor Documentation

OpenRAVE::SensorSystemBase::SensorSystemBase ( EnvironmentBasePtr  penv)
inline

Definition at line 33 of file sensorsystem.h.

virtual OpenRAVE::SensorSystemBase::~SensorSystemBase ( )
inlinevirtual

Definition at line 35 of file sensorsystem.h.

Member Function Documentation

virtual KinBody::ManageDataPtr OpenRAVE::SensorSystemBase::AddKinBody ( KinBodyPtr  pbody,
XMLReadableConstPtr  pdata 
)
pure virtual

add body for registering with sensor system pdata is a pointer to a data structor holding tracking/registration information for the system

Implemented in OpenRAVE::SimpleSensorSystem.

virtual void OpenRAVE::SensorSystemBase::AddRegisteredBodies ( const std::vector< KinBodyPtr > &  vbodies)
pure virtual

automatically register bodies that have some type of SensorSystem data (usually done through xml)

Implemented in OpenRAVE::SimpleSensorSystem.

virtual bool OpenRAVE::SensorSystemBase::EnableBody ( KinBodyPtr  pbody,
bool  bEnable 
)
pure virtual

enable/disable a body from being updated by the sensor system

Implemented in OpenRAVE::SimpleSensorSystem.

static InterfaceType OpenRAVE::SensorSystemBase::GetInterfaceTypeStatic ( )
inlinestatic

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

Definition at line 39 of file sensorsystem.h.

virtual bool OpenRAVE::SensorSystemBase::IsBodyPresent ( KinBodyPtr  pbody)
pure virtual

returns true if body is present

Implemented in OpenRAVE::SimpleSensorSystem.

virtual bool OpenRAVE::SensorSystemBase::RemoveKinBody ( KinBodyPtr  pbody)
pure virtual

remove body from sensory system. If bDestroy is true, will also deallocate the memory

Implemented in OpenRAVE::SimpleSensorSystem.

virtual void OpenRAVE::SensorSystemBase::Reset ( )
pure virtual

resets the system and stops managing all objects. Any objects that are not locked, are deleted

Implemented in OpenRAVE::SimpleSensorSystem.

virtual void OpenRAVE::SensorSystemBase::SetManageData ( KinBodyPtr  pbody,
KinBody::ManageDataPtr  data 
)
inlineprotectedvirtual

Definition at line 65 of file sensorsystem.h.

virtual bool OpenRAVE::SensorSystemBase::SwitchBody ( KinBodyPtr  pbody1,
KinBodyPtr  pbody2 
)
pure virtual

switches the registrations of two bodies. Can be used to quickly change the models of the current bodies

Parameters
pbody1First body to switch
pbody2Second body to switch

Implemented in OpenRAVE::SimpleSensorSystem.


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