IRSensor Class Reference

Sensor with one or more rays. More...

#include <IRSensor.hh>

Inheritance diagram for IRSensor:

List of all members.

Public Member Functions
	IRSensor (Body *body)
	Constructor.
virtual	~IRSensor ()
	Destructor.
unsigned int	GetIRCount () const
	Get the ray count.
double	GetRange (unsigned int index) const
	Get detected range for a ray.
Pose	GetPose (unsigned int index) const
Protected Member Functions
virtual void	LoadChild (sdf::ElementPtr &_sdf)
	Load the ray using parameter from an SDF.
virtual void	InitChild ()
	Initialize the ray.
virtual void	UpdateChild ()
	Update sensed values.
virtual void	FiniChild ()
	Finalize the ray.

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Detailed Description

Sensor with one or more rays.

This sensor cast rays into the world, tests for intersections, and reports the range to the nearest object. It is used by ranging sensor models (e.g., sonars and scanning laser range finders).

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Constructor & Destructor Documentation

IRSensor

(

Body *

body

)

Constructor.

Parameters:

body	The underlying collision test uses an ODE collision, so ray sensors must be attached to a body.

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Member Function Documentation

unsigned int GetIRCount

(

)

const

Get the ray count.

Returns:

The number of rays

double GetRange

(

unsigned int

index

)

const

Get detected range for a ray.

Returns:

Returns DBL_MAX for no detection.

virtual void LoadChild

(

sdf::ElementPtr &

_sdf

)

[protected, virtual]

Load the ray using parameter from an SDF.

Parameters:

_sdf	The SDF parameter

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

• IRSensor.hh