FingertipTouchSensorGraphic Class Reference

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.
Public Member Functions inherited from GraphicalWObject
	GraphicalWObject (World *world, QString name="unamed", const wMatrix &tm=wMatrix::identity())
WObject *	attachedObject () const
void	attachToObject (WObject *object, bool makeOwner=false, const wMatrix &displacement=wMatrix::identity())
QColor	color () const
const wMatrix &	getDisplacement () const
bool	isInvisible ()
const wMatrix &	matrix () const
QString	name () const
	Ownable ()
const QList< Owned > &	owned () const
Ownable *	owner () const
virtual void	postUpdate ()
virtual void	preUpdate ()
void	setAlpha (int alpha)
void	setColor (QColor c)
void	setDisplacement (const wMatrix &displacement)
void	setInvisible (bool b)
void	setMatrix (const wMatrix &newm)
void	setOwner (Ownable *owner, bool destroy=true)
void	setPosition (const wVector &newpos)
void	setPosition (real x, real y, real z)
void	setTexture (QString textureName)
void	setUseColorTextureOfOwner (bool b)
QString	texture () const
void	updateAndCalculateAABB (wVector &minPoint, wVector &maxPoint, const wMatrix tm)
void	updateAndCalculateOBB (wVector &dimension, wVector &minPoint, wVector &maxPoint)
void	updateAndRender (RenderWObject *renderer, QGLContext *gw)
void	updateAndRenderAABB (RenderWObject *renderer, RenderWorld *gw)
bool	useColorTextureOfOwner () const
	WObject (World *world, QString name="unamed", const wMatrix &tm=wMatrix::identity(), bool addToWorld=true)
World *	world ()
const World *	world () const
Public Member Functions inherited from WObject
	WObject (World *world, QString name="unamed", const wMatrix &tm=wMatrix::identity(), bool addToWorld=true)
QColor	color () const
bool	isInvisible ()
const wMatrix &	matrix () const
QString	name () const
	Ownable ()
const QList< Owned > &	owned () const
Ownable *	owner () const
void	setAlpha (int alpha)
void	setColor (QColor c)
void	setInvisible (bool b)
void	setMatrix (const wMatrix &newm)
void	setOwner (Ownable *owner, bool destroy=true)
void	setPosition (const wVector &newpos)
void	setPosition (real x, real y, real z)
void	setTexture (QString textureName)
void	setUseColorTextureOfOwner (bool b)
QString	texture () const
bool	useColorTextureOfOwner () const
World *	world ()
const World *	world () const
Public Member Functions inherited from Ownable
const QList< Owned > &	owned () const
Ownable *	owner () const
void	setOwner (Ownable *owner, bool destroy=true)

Protected Member Functions
virtual void	render (RenderWObject *renderer, QGLContext *gw)
	Performs the actual drawing.
Protected Member Functions inherited from GraphicalWObject
virtual void	calculateAABB (wVector &minPoint, wVector &maxPoint, const wMatrix tm)
virtual void	calculateOBB (wVector &dimension, wVector &minPoint, wVector &maxPoint)
virtual void	changedMatrix ()
virtual void	renderAABB (RenderWObject *renderer, RenderWorld *gw)
void	updateMatrixFromAttachedObject ()

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.
const real	m_handPieceHeight
	The height of the hand piece.
const real	m_handPieceRadius
	The radius of the hand piece.
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.
Protected Attributes inherited from GraphicalWObject
QColor	colorv
bool	invisible
QString	namev
QString	texturev
wMatrix	tm
bool	usecolortextureofowner
World *	worldv
Protected Attributes inherited from WObject
QColor	colorv
bool	invisible
QString	namev
QString	texturev
wMatrix	tm
bool	usecolortextureofowner
World *	worldv

Additional Inherited Members
Public Types inherited from GraphicalWObject
typedef QList< Owned >	OwnedList

Detailed Description

The graphical representation of the touch sensors on the fingertip.

Definition at line 1219 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 1247 of file icubsensors.cpp.

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

~FingertipTouchSensorGraphic ( )

inline

Destructor.

Definition at line 1273 of file icubsensors.cpp.

Member Function Documentation

virtual void render ( RenderWObject *  renderer, QGLContext *  gw  )

inlineprotectedvirtual

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 1300 of file icubsensors.cpp.

References RenderWObject::container(), FingertipTouchSensorGraphic::m_angularIncrement, FingertipTouchSensorGraphic::m_endingAngle, FingertipTouchSensorGraphic::m_h, FingertipTouchSensorGraphic::m_handPieceHeight, FingertipTouchSensorGraphic::m_handPieceRadius, FingertipTouchSensorGraphic::m_isActive, FingertipTouchSensorGraphic::m_isActiveMutex, FingertipTouchSensorGraphic::m_startingAngle, wVectorT< Shared >::scale(), GraphicalWObject::setColor(), RenderWObjectContainer::setupColorTexture(), GraphicalWObject::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 1284 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 1394 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 1408 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 1416 of file icubsensors.cpp.

Referenced by FingertipTouchSensorGraphic::render().

const float m_endingAngle

protected

The ending angle when drawing the sensor.

Definition at line 1426 of file icubsensors.cpp.

Referenced by FingertipTouchSensorGraphic::render().

const float m_h

protected

The height of the sensor area.

Definition at line 1399 of file icubsensors.cpp.

Referenced by FingertipTouchSensorGraphic::render().

PhyCylinder* const m_handPiece

protected

The hand piece to which this graphical representation is attached.

Definition at line 1379 of file icubsensors.cpp.

Referenced by FingertipTouchSensorGraphic::FingertipTouchSensorGraphic().

const real m_handPieceHeight

protected

The height of the hand piece.

Definition at line 1384 of file icubsensors.cpp.

Referenced by FingertipTouchSensorGraphic::render().

const real m_handPieceRadius

protected

The radius of the hand piece.

Definition at line 1389 of file icubsensors.cpp.

Referenced by FingertipTouchSensorGraphic::render().

bool m_isActive

protected

If true the sensor is in contact with something.

This changes the color with which the sensor is drawn

Definition at line 1433 of file icubsensors.cpp.

Referenced by FingertipTouchSensorGraphic::render(), and FingertipTouchSensorGraphic::setActive().

QMutex m_isActiveMutex

protected

The mutex protecting the m_isActive variable.

The variable could be accessed by multiple threads concurrently, so we protect it with a mutex

Definition at line 1441 of file icubsensors.cpp.

Referenced by FingertipTouchSensorGraphic::render(), and FingertipTouchSensorGraphic::setActive().

const float m_startingAngle

protected

The starting angle when drawing the sensor.

Definition at line 1421 of file icubsensors.cpp.

Referenced by FingertipTouchSensorGraphic::render().

---

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

• experiments/src/icubsensors.cpp