WCamera Class Reference

WCamera class. More...

Inheritance diagram for WCamera:

Public Member Functions
	WCamera (World *world, QString name, WObject *attachTo, unsigned int width=200, unsigned int height=200)
	Construct a WCamera the point of view is positioned at 'attachTo' position and orientated as the Z axis of the 'attachTo' object.
	WCamera (World *world, QString name, unsigned int width=200, unsigned int height=200, const wMatrix &tm=wMatrix::identity())
	Construct a WCamera the point of view is positioned at 'attachTo' position and orientated as the Z axis of the 'attachTo' object.
	~WCamera ()
	Destructor.
WObject *	attachedTo ()
	Return the object on which the WCamera is attached on.
yarp::dev::IFrameGrabberImage *	getFrameGrabber ()
	Returns the YARP frame grabber object.
virtual void	postUpdate ()
	update the WCamera generating a new frame
virtual void	preUpdate ()
	PreUpdate operations.
Public Member Functions inherited from YarpObject
	YarpObject (World *world, QString name, const wMatrix &tm=wMatrix::identity())
	Create a YarpObject; The name is mandatory because it is used as root name for each devices of this object.
virtual	~YarpObject ()
	Destroy the YarpObject.
yarp::dev::PolyDriver *	polydriver (QString name)
	return the PolyDriver with the given name associated to it
Public Member Functions inherited from WObject
	WObject (World *world, QString name="unamed", const wMatrix &tm=wMatrix::identity(), bool addToWorld=true)
	create the object and automatically put this into the world
virtual	~WObject ()
	destroy the Object and drop it from the world
QColor	color () const
	return the color of this object
bool	isInvisible ()
	return if it is invisible
const wMatrix &	matrix () const
	return a reference to the transformation matrix
QString	name () const
	Return the name of this object.
void	setAlpha (int alpha)
	set the value of alpha channel (the transparency)
void	setColor (QColor c)
	Set the color to use on rendering.
void	setInvisible (bool b)
	set invisibility
void	setMatrix (const wMatrix &newm)
	set a new matrix
void	setPosition (const wVector &newpos)
	set the position specified in global coordinate frame
void	setPosition (real x, real y, real z)
	set the position specified in global coordinate frame
void	setTexture (QString textureName)
	Set the texture to use for this WObject when rendered.
void	setUseColorTextureOfOwner (bool b)
	set if the object will be rendered with the color and texture of our owner (if we have one)
QString	texture () const
	Return the texture name.
bool	useColorTextureOfOwner () const
	if true, we will use color and texture of our owner (if we have one)
World *	world ()
	Return the world.
const World *	world () const
	Return the world (const version)
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 Member Functions inherited from YarpObject
void	registerServerControlBoard (yarp::dev::DeviceDriver *device, QString devicename)
	Add a DeviceDriver to the map of controllers It automatically construct a ServerControlBoard, the port name for accessing the DeviceDriver will be /worldname/yarpobjectname/devicename.
void	registerServerFrameGrabber (yarp::dev::DeviceDriver *device, QString devicename)
	Add a DeviceDriver to the map of controllers It automatically construct a ServerFrameGrabber, the port name for accessing the DeviceDriver will be /worldname/yarpobjectname/devicename.
void	removeServerControlBoard (QString devicename)
	Remove, and close the serverControlBoard registered and opened by above call.
Protected Attributes inherited from WObject
QColor	colorv
	Color, it contains also alpha channel.
bool	invisible
	if TRUE it will not renderized
QString	namev
	Name of the WObject.
QString	texturev
	Texture name.
wMatrix	tm
	Trasformation matrix.
bool	usecolortextureofowner
	if true, we will use color and texture of our owner (if we have one).
World *	worldv
	World.

Detailed Description

WCamera class.

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Motivation

The WCamera represent a camera.

Description

The images are sended via YARP port and they can be viewed as an image YARP image viewer.

Warnings

Warnings

Definition at line 109 of file wcamera.h.

Constructor & Destructor Documentation

WCamera	(	World *	world,
		QString	name,
		WObject *	attachTo,
		unsigned int	width = 200,
		unsigned int	height = 200
	)

Construct a WCamera the point of view is positioned at 'attachTo' position and orientated as the Z axis of the 'attachTo' object.

Parameters

world	is the world that WCamera show to you
name	of the camera, this is mandatory because it will be used as the YARP port name
attachTo	is the WObject which this WCamera is mounted
width	is the pixel width of image produced by WCamera
height	is the pixel height of image produce by WCamera

Definition at line 163 of file wcamera.cpp.

References WObject::matrix(), WObject::name(), WObject::setColor(), WObject::setMatrix(), RenderWObjectContainer::setWorld(), and WObject::world().

WCamera	(	World *	world,
		QString	name,
		unsigned int	width = 200,
		unsigned int	height = 200,
		const wMatrix &	tm = wMatrix::identity()
	)

Construct a WCamera the point of view is positioned at 'attachTo' position and orientated as the Z axis of the 'attachTo' object.

Parameters

world	is the world that WCamera show to you
name	of the camera, this is mandatory because it will be used as the YARP port name
width	is the pixel width of image produced by WCamera
height	is the pixel height of image produce by WCamera
tm	rotation and position at the moment of creation

Definition at line 182 of file wcamera.cpp.

References WObject::name(), WObject::setMatrix(), RenderWObjectContainer::setWorld(), and WObject::world().

~WCamera

(

)

Destructor.

Definition at line 200 of file wcamera.cpp.

Member Function Documentation

WObject* attachedTo ( )

inline

Return the object on which the WCamera is attached on.

Definition at line 141 of file wcamera.h.

yarp::dev::IFrameGrabberImage* getFrameGrabber ( )

inline

Returns the YARP frame grabber object.

Definition at line 145 of file wcamera.h.

Referenced by PhyiCub::leftEyeFrameGrabber(), and PhyiCub::rightEyeFrameGrabber().

void postUpdate ( )

virtual

update the WCamera generating a new frame

Note

I don't know if it's necessary to implement this, because doesn't matter if the World is changed or not, the WCamera should always generate 60 frame per seconds in real-time

Reimplemented from WObject.

Definition at line 210 of file wcamera.cpp.

References RenderCamera::paintGL().

void preUpdate ( )

virtual

PreUpdate operations.

Reimplemented from WObject.

Definition at line 204 of file wcamera.cpp.

References WObject::setMatrix().

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

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