The graphical representation of the touch sensors on the fingertip. More...

Inheritance diagram for FingertipTouchSensorGraphic:

Public Member Functions
	FingertipTouchSensorGraphic (PhyObject *handPiece, double alpha, double h, bool isRight, bool isThumb, QString name="unamed")
	Constructor.
	~FingertipTouchSensorGraphic ()
	Destructor.
void	setActive (bool isActive)
	Sets whether the touch sensor is active or not.
Protected Member Functions
virtual void	render (RenderWObject renderer, QGLContext gw)
	Performs the actual drawing.
Static Protected Member Functions
static float	computeAlphaOffset (bool isRight, bool isThumb)
Protected Attributes
const float	m_alpha
	The aperture of the sensor area.
const float	m_alphaOffset
	The offset to apply when drawing the sensor.
const float	m_angularIncrement
	The angular increment when drawing the sensor.
const float	m_endingAngle
	The ending angle when drawing the sensor.
const float	m_h
	The height of the sensor area.
PhyCylinder *const	m_handPiece
	The hand piece to which this graphical representation is attached.
bool	m_isActive
	If true the sensor is in contact with something.
QMutex	m_isActiveMutex
	The mutex protecting the m_isActive variable.
const float	m_startingAngle
	The starting angle when drawing the sensor.

Detailed Description

The graphical representation of the touch sensors on the fingertip.

Definition at line 947 of file icubsensors.cpp.

Constructor & Destructor Documentation

FingertipTouchSensorGraphic	(	PhyObject *	handPiece,
		double	alpha,
		double	h,
		bool	isRight,
		bool	isThumb,
		QString	name = `"unamed"`
	)		`[inline]`

Constructor.

This also sets a default color for the piece and sets handPiece to be our owner

Parameters:

handPiece	the hand piece to which this graphical representation is attached. This must be a PhyCylinder (the cast is done inside). As the iCubFingertipsTouchSensor class is supposed to work only with the iCub hand, the cast should never fail.
alpha	the aperture of the sensor area (see the sensor class description)
h	the height of the sensor area (see the sensor class description)
isRight	set to true if handPiece belongs to the right hand, to false if it belongs to the left one. We have to distinguish between the two hands because they have different fame of reference orientations
isThumb	set to true if handPiece is the thumb (the thumb has a different orientation with respect to other fingers)
name	the name of this object

Definition at line 975 of file icubsensors.cpp.

References GraphicalWObject::attachToObject(), FingertipTouchSensorGraphic::m_handPiece, WObject::setColor(), WObject::setTexture(), and WObject::setUseColorTextureOfOwner().

~FingertipTouchSensorGraphic ( ) [inline]

Destructor.

Definition at line 999 of file icubsensors.cpp.

Member Function Documentation

virtual void render	(	RenderWObject *	renderer,
		QGLContext *	gw
	)		`[inline, protected, virtual]`

Performs the actual drawing.

Draws the fingertip

Parameters:

renderer	the RenderWObject object associated with this one. Use it e.g. to access the container
gw	the OpenGL context

Implements GraphicalWObject.

Definition at line 1026 of file icubsensors.cpp.

References RenderWObject::container(), PhyCylinder::height(), FingertipTouchSensorGraphic::m_angularIncrement, FingertipTouchSensorGraphic::m_endingAngle, FingertipTouchSensorGraphic::m_h, FingertipTouchSensorGraphic::m_handPiece, FingertipTouchSensorGraphic::m_isActive, FingertipTouchSensorGraphic::m_isActiveMutex, FingertipTouchSensorGraphic::m_startingAngle, PhyCylinder::radius(), wVectorT< Shared >::scale(), WObject::setColor(), RenderWObjectContainer::setupColorTexture(), WObject::tm, wMatrix::w_pos, and wMatrix::x_ax.

void setActive ( bool isActive ) [inline]

Sets whether the touch sensor is active or not.

This function is thread-safe

Parameters:

isActive set to true if the sensor is in touch with something

Definition at line 1010 of file icubsensors.cpp.

References FingertipTouchSensorGraphic::m_isActive, and FingertipTouchSensorGraphic::m_isActiveMutex.

Member Data Documentation

const float m_alpha [protected]

The aperture of the sensor area.

Definition at line 1110 of file icubsensors.cpp.

const float m_alphaOffset [protected]

The offset to apply when drawing the sensor.

This offset is 0.0 for all fingers except for the thumb, for which is M_PI/2.0. This is needed because the thumb has a different orientation respect to the other fingers

Definition at line 1124 of file icubsensors.cpp.

const float m_angularIncrement [protected]

The angular increment when drawing the sensor.

This depends on the sensor aperture and the number of divisions

Definition at line 1132 of file icubsensors.cpp.

Referenced by FingertipTouchSensorGraphic::render().

const float m_endingAngle [protected]

The ending angle when drawing the sensor.

Definition at line 1142 of file icubsensors.cpp.

Referenced by FingertipTouchSensorGraphic::render().

const float m_h [protected]

The height of the sensor area.