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

Inheritance diagram for PalmPatchesTouchSensorGraphic:

Public Member Functions
	PalmPatchesTouchSensorGraphic (PhyObject *handPalm, const QVector< iCubPalmPatchesTouchSensor::Triangle > &patches, bool isRight, QString name="unamed")
	Constructor.

	~PalmPatchesTouchSensorGraphic ()
	Destructor.

void	setActivations (const QVector< bool > activations)
	Sets whether the touch sensors are 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 ()

Protected Attributes
QVector< bool >	m_activations
	The vector storing whether the sensor on each patch is in contact with something or not.

QMutex	m_activationsMutex
	The mutex protecting the m_activations vector.

PhyBox *const	m_handPalm
	The hand piece to which this graphical representation is attached.

const bool	m_isRight
	True if the sensor is on the right hand, false if it is on the left one.

const QVector < iCubPalmPatchesTouchSensor::Triangle >	m_patches
	The list of the four triangles making up the sensor.

const float	m_zAxisDirection
	This is 1.0 or -1.0 depending on the hand.

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 1450 of file icubsensors.cpp.

Constructor & Destructor Documentation

PalmPatchesTouchSensorGraphic	(	PhyObject *	handPalm,
		const QVector< iCubPalmPatchesTouchSensor::Triangle > &	patches,
		bool	isRight,
		QString	name = `"unamed"`
	)

inline

Constructor.

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

Parameters

handPalm	the hand palm to which this graphical representation is attached. This must be a PhyBox (the cast is done inside). As the iCubPalmPatchesTouchSensor class is supposed to work only with the iCub hand, the cast should never fail.
patches	the list of the four triangles making up the sensor
isRight	set to true if handPalm is the right palm, to false if it is the left one. We have to distinguish between the two hands because they have different fame of reference orientations
name	the name of this object