RayShape Class Reference

Ray collision. More...

#include <RayShape.hh>

Inheritance diagram for RayShape:

List of all members.

Public Member Functions
	RayShape (PhysicsEnginePtr _physicsEngine)
	Constructor for a global ray.
	RayShape (CollisionPtr parent, bool displayRays)
	Constructor.
virtual	~RayShape ()
	Destructor.
virtual void	SetPoints (const math::Vector3 &posStart, const math::Vector3 &posEnd)
	Set the ray based on starting and ending points relative to the body.
virtual void	GetRelativePoints (math::Vector3 &posA, math::Vector3 &posB)
	Get the relative starting and ending points.
virtual void	GetGlobalPoints (math::Vector3 &posA, math::Vector3 &posB)
	Get the global starting and ending points.
virtual void	SetLength (double len)
	Set the length of the ray.
double	GetLength () const
	Get the length of the ray.
virtual void	Update ()=0
	Update the ray collision.
virtual void	GetIntersection (double &_dist, std::string &_entity)=0
	Get the nearest intersection.
void	SetRetro (float retro)
	Set the retro-reflectivness detected by this ray.
float	GetRetro () const
	Get the retro-reflectivness detected by this ray.
void	SetFiducial (int fid)
	Set the fiducial id detected by this ray.
int	GetFiducial () const
	Get the fiducial id detected by this ray.
virtual void	Load (sdf::ElementPtr &_sdf)
	Load the ray.
virtual void	Init ()
	In the ray.
void	FillShapeMsg (msgs::Geometry &)
virtual void	ProcessMsg (const msgs::Geometry &)
Protected Attributes
double	contactLen
	Contact information; this is filled out during collision detection.
double	contactRetro
int	contactFiducial
math::Vector3	relativeStartPos
	Start and end positions of the ray, relative to the body.
math::Vector3	relativeEndPos
math::Vector3	globalStartPos
	Start and end positions of the ray in global cs.
math::Vector3	globalEndPos

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Detailed Description

Ray collision.

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Constructor & Destructor Documentation

RayShape	(	CollisionPtr	parent,
		bool	displayRays
	)

Constructor.

Parameters:

body	Link the ray is attached to
displayRays	Indicates if the rays should be displayed when rendering images

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Member Function Documentation

virtual void GetGlobalPoints	(	math::Vector3 &	posA,
		math::Vector3 &	posB
	)		[virtual]

Get the global starting and ending points.

Parameters:

posA	Returns the starting point
posB	Returns the ending point

virtual void GetRelativePoints	(	math::Vector3 &	posA,
		math::Vector3 &	posB
	)		[virtual]

Get the relative starting and ending points.

Parameters:

posA	Returns the starting point
posB	Returns the ending point

virtual void SetLength

(

double

len

)

[virtual]

Set the length of the ray.

Parameters:

len	Length of the array

virtual void SetPoints	(	const math::Vector3 &	posStart,
		const math::Vector3 &	posEnd
	)		[virtual]

Set the ray based on starting and ending points relative to the body.

Parameters:

posStart	Start position, relative the body
posEnd	End position, relative to the body

Reimplemented in ODERayShape.

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Member Data Documentation

double contactLen [protected]

Contact information; this is filled out during collision detection.

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

• RayShape.hh