SimulatedIRGroundSensorController Class Reference

A collection of SingleIR modelling ground sensors. More...

Inheritance diagram for SimulatedIRGroundSensorController:

Public Member Functions
	SimulatedIRGroundSensorController (World *world, const QVector< SingleIR > &sensors)
	Constructor.
	~SimulatedIRGroundSensorController ()
	Destructor.
void	setGraphicalProperties (bool drawSensor, bool drawRay=false, bool drawRealRay=false)
	Sets graphical properties of all sensors.
virtual void	update ()
	Updates sensor reading.
Public Member Functions inherited from IRSensorController
	IRSensorController (World *world, unsigned int numSensors)
	Constructor.
virtual	~IRSensorController ()
	Destructor.
double	activation (int i) const
	Returns the activation of the i-th sensors.
int	nSensors () const
	Returns the number of sensors.
Public Member Functions inherited from SensorController
	SensorController (World *world)
	Constructor.
virtual	~SensorController ()
	Destructor.
bool	isEnabled ()
	Returns true if the sensor is enabled.
void	setEnabled (bool b)
	Enables/Disables this sensor controller.
World *	world ()
	Returns the world.
Public Member Functions inherited from Ownable
	Ownable ()
	Constructor.
virtual	~Ownable ()
	Destructor.
const QList< Owned > &	owned () const
	Returns the list of objects owned by this one.
Ownable *	owner () const
	Returns the owner of this object.
void	setOwner (Ownable *owner, bool destroy=true)
	Sets the owner of this object.

Additional Inherited Members
Public Types inherited from Ownable
typedef QList< Owned >	OwnedList
	The type for the list of owned objects.
Protected Attributes inherited from IRSensorController
QVector< double >	m_activations
	The vector with sensors activations.

Detailed Description

A collection of SingleIR modelling ground sensors.

This class implements IRSensorController by using a collection of SingleIR. This models ground sensors by assuming IR sensors are at a fixed distance from the ground and returning activation depending on the luminance component of the color of the object below the sensor. The SingleIR should have a single ray (zero aperture).

Definition at line 510 of file sensorcontrollers.h.

Constructor & Destructor Documentation

SimulatedIRGroundSensorController	(	World *	world,
		const QVector< SingleIR > &	sensors
	)

Constructor.

Parameters

world	the world in which we live
sensors	the list of single proximity IR sensors

Definition at line 521 of file sensorcontrollers.cpp.

~SimulatedIRGroundSensorController

(

)

Destructor.

Definition at line 527 of file sensorcontrollers.cpp.

Member Function Documentation

void setGraphicalProperties	(	bool	drawSensor,
		bool	drawRay = false,
		bool	drawRealRay = false
	)

Sets graphical properties of all sensors.

By default the sensor is not drawn

Parameters

drawSensor	if true the sensor is drawn
drawRay	if true sensor rays are drawn
drawRealRay	if true the actual ray range is drawn, otherwise only the direction of the rays is given

Definition at line 547 of file sensorcontrollers.cpp.

Referenced by PhyMarXbot::setGroundAroundIRSensorsGraphicalProperties(), PhyMarXbot::setGroundBottomIRSensorsGraphicalProperties(), and PhyEpuck::setGroundIRSensorsGraphicalProperties().

void update ( )

virtual

Updates sensor reading.

Implements SensorController.

Definition at line 532 of file sensorcontrollers.cpp.

References IRSensorController::m_activations.

Referenced by PhyMarXbot::postUpdate(), and PhyEpuck::postUpdate().

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

• worldsim/include/sensorcontrollers.h
• worldsim/src/sensorcontrollers.cpp