cajun::laser_sensor_t Class Reference

#include <laser_sensor.H>

Inheritance diagram for cajun::laser_sensor_t:

List of all members.

Public Member Functions
	laser_sensor_t (dSpaceID world_space, dGeomID ground, simulated_object_t *robot, timer_t *timer, char const *cfg_fname)
void	read_config_file (char const *)
void	set_laser_beam_angles ()
double	test_laser_collision (int cycle, int laser_angle)
void	update_position (dBodyID carb)
void	command (int cmd, double value)
void	simulate_component ()
virtual	~laser_sensor_t ()
Private Attributes
int	m_scan_cycle
scan_data_t	m_laser_scan
simulated_object_t *	m_robot
scan_observer_t *	m_scan_observer
dSpaceID	m_thisSpace
dGeomID	m_thisGround
dGeomID	m_laser_ray
int	m_laser_id
double	m_laserRange
int	m_rotation_degrees
double	m_laser_beam_angles [4][SCAN_MAX_BEAMS]
Friends
class	scan_observer_t

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Constructor & Destructor Documentation

laser_sensor_t::laser_sensor_t	(	dSpaceID	world_space,
		dGeomID	ground,
		simulated_object_t *	robot,
		timer_t *	timer,
		char const *	cfg_fname
	)

References DELAY_SICK, m_laser_id, m_laser_ray, m_laserRange, cajun::components_t::m_observer_index, m_robot, m_scan_cycle, m_scan_observer, m_thisGround, m_thisSpace, read_config_file(), cajun::timer_t::register_observer(), scan_observer_t, set_laser_beam_angles(), and simulate_component().

laser_sensor_t::~laser_sensor_t

(

)

[virtual]

References cajun::components_t::m_observer_index, m_scan_observer, cajun::components_t::m_timer, and cajun::timer_t::unregister_observer().

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Member Function Documentation

void laser_sensor_t::command	(	int	cmd,
		double	value
	)

void laser_sensor_t::read_config_file

(

char const *

cfg_fname

)

References ANGLEX, ANGLEY, ANGLEZ, m_laser_id, m_laserRange, cajun::components_t::m_orientation_on_robot, cajun::components_t::m_position_on_robot, m_rotation_degrees, POSX, POSY, and POSZ.

Referenced by laser_sensor_t().

void laser_sensor_t::set_laser_beam_angles

(

)

References cajun::angle(), and m_laser_beam_angles.

Referenced by laser_sensor_t().

void laser_sensor_t::simulate_component

(

)

References ANGLEX, ANGLEY, ANGLEZ, D2R, cajun::HomogTformPt(), cajun::sim_world_object_t::m_carb, cajun::components_t::m_global_position, m_laser_beam_angles, m_laser_ray, m_laser_scan, m_laserRange, cajun::components_t::m_orientation_on_robot, m_robot, m_scan_cycle, POSX, POSY, POSZ, test_laser_collision(), cajun::tform_mult(), and update_position().

Referenced by laser_sensor_t(), and cajun::scan_observer_t::timeout().

double laser_sensor_t::test_laser_collision	(	int	cycle,
		int	laser_angle
	)

References m_laser_ray, m_laserRange, and m_thisSpace.

Referenced by simulate_component().

void laser_sensor_t::update_position

(

dBodyID

carb

)

[virtual]

Reimplemented from cajun::components_t.

References cajun::HomogTformPt(), cajun::components_t::m_global_position, cajun::components_t::m_position_on_robot, POSX, POSY, POSZ, and cajun::tform_mult().

Referenced by simulate_component().

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Friends And Related Function Documentation

friend class scan_observer_t [friend]

Referenced by laser_sensor_t().

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Member Data Documentation

double cajun::laser_sensor_t::m_laser_beam_angles[4][SCAN_MAX_BEAMS] [private]

Referenced by set_laser_beam_angles(), and simulate_component().

int cajun::laser_sensor_t::m_laser_id [private]

Referenced by laser_sensor_t(), and read_config_file().

dGeomID cajun::laser_sensor_t::m_laser_ray [private]

Referenced by laser_sensor_t(), simulate_component(), and test_laser_collision().

scan_data_t cajun::laser_sensor_t::m_laser_scan [private]

Referenced by simulate_component(), and cajun::scan_observer_t::timeout().

double cajun::laser_sensor_t::m_laserRange [private]

Referenced by laser_sensor_t(), read_config_file(), simulate_component(), and test_laser_collision().

simulated_object_t* cajun::laser_sensor_t::m_robot [private]

Referenced by laser_sensor_t(), cajun::scan_observer_t::scan_observer_t(), simulate_component(), and cajun::scan_observer_t::timeout().

int cajun::laser_sensor_t::m_rotation_degrees [private]

Referenced by read_config_file().

int cajun::laser_sensor_t::m_scan_cycle [private]

Referenced by laser_sensor_t(), and simulate_component().

scan_observer_t* cajun::laser_sensor_t::m_scan_observer [private]

Referenced by laser_sensor_t(), and ~laser_sensor_t().

dGeomID cajun::laser_sensor_t::m_thisGround [private]

Referenced by laser_sensor_t().

dSpaceID cajun::laser_sensor_t::m_thisSpace [private]

Referenced by laser_sensor_t(), and test_laser_collision().

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

• laser_sensor.H
• laser_sensor.C