cajun::ray_sensor_t Class Reference

#include <ray_sensor.H>

Inheritance diagram for cajun::ray_sensor_t:

List of all members.

Public Member Functions
	ray_sensor_t (dSpaceID s1, dGeomID ground, sim_world_object_t *object, timer_t *timer, int id, double length, double pos[3], double orientation[3])
virtual	~ray_sensor_t ()
void	test_ray_sensor_collision (double *px, double *py, double *pz)
void	get_orientation_matrix (double orientation_matrix[3][4])
void	get_ray_beam_position (double start_position[3], double end_position[3])
void	update_position ()
void	update_position (dBodyID carb)
void	simulate_component ()
void	command (int cmd, double value)
Private Attributes
dGeomID	m_raySensor_ray
double	m_end_pos [3]
double	m_raySensorRange
double	m_raySensorDepth
dGeomID	m_thisGround
dSpaceID	m_thisSpace
sim_world_object_t *	m_robot
ray_sensor_observer_t *	m_ray_sensor_observer
int	m_ray_sensor_id
Friends
class	ray_sensor_observer_t

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Constructor & Destructor Documentation

ray_sensor_t::ray_sensor_t	(	dSpaceID	s1,
		dGeomID	ground,
		sim_world_object_t *	object,
		timer_t *	timer,
		int	id,
		double	length,
		double	pos[3],
		double	orientation[3]
	)

References ANGLEX, ANGLEY, ANGLEZ, DELAY_RAY_SENSOR, cajun::components_t::m_observer_index, cajun::components_t::m_orientation_on_robot, cajun::components_t::m_position_on_robot, m_ray_sensor_id, m_ray_sensor_observer, m_raySensor_ray, m_raySensorRange, m_robot, m_thisGround, m_thisSpace, POSX, POSY, POSZ, ray_sensor_observer_t, cajun::timer_t::register_observer(), simulate_component(), and update_position().

ray_sensor_t::~ray_sensor_t

(

)

[virtual]

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

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Member Function Documentation

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

void ray_sensor_t::get_orientation_matrix

(

double

orientation_matrix[3][4]

)

References ANGLEX, ANGLEY, ANGLEZ, cajun::sim_world_object_t::get_robot_rotation(), cajun::components_t::m_global_position, cajun::components_t::m_orientation_on_robot, m_raySensorRange, m_robot, POSX, POSY, POSZ, cajun::radian(), and cajun::tform_mult().

Referenced by simulate_component().

void ray_sensor_t::get_ray_beam_position	(	double	start_position[3],
		double	end_position[3]
	)

References m_end_pos, cajun::components_t::m_global_position, POSX, POSY, and POSZ.

void ray_sensor_t::simulate_component

(

)

References cajun::calculate_distance(), get_orientation_matrix(), cajun::HomogTformPt(), m_end_pos, cajun::components_t::m_global_position, m_raySensor_ray, m_raySensorDepth, POSX, POSY, and POSZ.

Referenced by ray_sensor_t(), and cajun::ray_sensor_observer_t::timeout().

void ray_sensor_t::test_ray_sensor_collision	(	double *	px,
		double *	py,
		double *	pz
	)

References cajun::calculate_distance(), cajun::components_t::m_global_position, m_raySensor_ray, m_raySensorRange, m_thisGround, POSX, POSY, and POSZ.

void ray_sensor_t::update_position

(

dBodyID

carb

)

[virtual]

Reimplemented from cajun::components_t.

References update_position().

void ray_sensor_t::update_position

(

)

References cajun::sim_world_object_t::get_robot_position(), cajun::components_t::m_global_position, cajun::components_t::m_position_on_robot, m_robot, POSX, POSY, and POSZ.

Referenced by ray_sensor_t(), and update_position().

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Friends And Related Function Documentation

friend class ray_sensor_observer_t [friend]

Referenced by ray_sensor_t().

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Member Data Documentation

double cajun::ray_sensor_t::m_end_pos[3] [private]

Referenced by get_ray_beam_position(), and simulate_component().

int cajun::ray_sensor_t::m_ray_sensor_id [private]

Referenced by ray_sensor_t().

ray_sensor_observer_t* cajun::ray_sensor_t::m_ray_sensor_observer [private]

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

dGeomID cajun::ray_sensor_t::m_raySensor_ray [private]

Referenced by ray_sensor_t(), simulate_component(), and test_ray_sensor_collision().

double cajun::ray_sensor_t::m_raySensorDepth [private]

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

double cajun::ray_sensor_t::m_raySensorRange [private]

Referenced by get_orientation_matrix(), ray_sensor_t(), and test_ray_sensor_collision().

sim_world_object_t* cajun::ray_sensor_t::m_robot [private]

Referenced by get_orientation_matrix(), ray_sensor_t(), and update_position().

dGeomID cajun::ray_sensor_t::m_thisGround [private]

Referenced by ray_sensor_t(), and test_ray_sensor_collision().

dSpaceID cajun::ray_sensor_t::m_thisSpace [private]

Referenced by ray_sensor_t().

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

• ray_sensor.H
• ray_sensor.C