SensorContact Struct Reference

Sets value to 1 if there are any contact constraints within the specified region of the associated body; 0 otherwise. More...

#include <SensorInfo.h>

Inheritance diagram for SensorContact:

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Detailed Description

Sets value to 1 if there are any contact constraints within the specified region of the associated body; 0 otherwise.

The min/max values can be used to limit which contact positions can toggle the sensor. Only axes where min≠max are considered for filtering. Thus all 0's for min and max values indicate no filtering.

Definition at line 74 of file SensorInfo.h.

List of all members.

Public Member Functions
	SensorContact ()
	constructor
	SensorContact (const SensorContact &s)
	copy constructor for cloning
virtual void	declareValues (DynamicRobotState &values)
	Subclass should add name/value pairs to the dictionary to allow variable number of values per Sensor, as well as fast filtering and serialization to subscribers.
virtual void	reclaimValues (DynamicRobotState &values)
	Subclass should remove values added via previous declareValues().
bool	testPoint (float x, float y, float z)
virtual SensorContact *	clone () const __attribute__((warn_unused_result))
	clone implementation for Dictionary
Public Attributes
plist::Primitive< float >	value
	current sensor value: 1 if there are any contact constraints within the specified region of the associated body; 0 otherwise
plist::Primitive< std::string >	sensorName
	Name of the sensor instance, to match up with the a sensorNames[] in RobotInfo header.
plist::ArrayOf < plist::Primitive< float > >	lx
	Minimum and maximum cartesian x.
plist::ArrayOf < plist::Primitive< float > >	ly
	Minimum and maximum cartesian y.
plist::ArrayOf < plist::Primitive< float > >	lz
	Minimum and maximum cartesian z.
plist::ArrayOf< plist::Angle >	ax
	Minimum and maximum angle about joint origin x axis (y axis is 0°).
plist::ArrayOf< plist::Angle >	ay
	Minimum and maximum angle about joint origin y axis (z axis is 0°).
plist::ArrayOf< plist::Angle >	az
	Minimum and maximum angle about joint origin z axis (x axis is 0°).
Static Public Attributes
static const std::string	autoRegister = FamilyFactory<SensorInfo>::getRegistry().registerType<SensorContact>("Contact")
	Provides registration with FamilyFactory<SensorInfo>
Protected Member Functions
void	init ()
	performs common initialization

Constructor & Destructor Documentation

SensorContact::SensorContact ( )

constructor

Definition at line 76 of file SensorInfo.h.

SensorContact::SensorContact ( const SensorContact & s )

copy constructor for cloning

Definition at line 79 of file SensorInfo.h.

Member Function Documentation

SensorContact * SensorContact::clone ( ) const [virtual]

clone implementation for Dictionary

implements the clone function for dictionary

Implements SensorInfo.

Definition at line 9 of file SensorInfo.cc.

virtual void SensorContact::declareValues ( DynamicRobotState & values ) [virtual]

Subclass should add name/value pairs to the dictionary to allow variable number of values per Sensor, as well as fast filtering and serialization to subscribers.

A reference to a permanent plist::Primitive<float> instance should be added, this is how values are extracted from the sensor via this shared value.

Implements SensorInfo.

Definition at line 82 of file SensorInfo.h.

void SensorContact::init ( ) [protected]

performs common initialization

Reimplemented from SensorInfo.

Definition at line 101 of file SensorInfo.h.

Referenced by SensorContact().

virtual void SensorContact::reclaimValues ( DynamicRobotState & values ) [virtual]

Subclass should remove values added via previous declareValues().

Implements SensorInfo.

Definition at line 85 of file SensorInfo.h.