Sensor.h
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00001 /*
00002  * Copyright (c) 2008, AIST, the University of Tokyo and General Robotix Inc.
00003  * All rights reserved. This program is made available under the terms of the
00004  * Eclipse Public License v1.0 which accompanies this distribution, and is
00005  * available at http://www.eclipse.org/legal/epl-v10.html
00006  * Contributors:
00007  * National Institute of Advanced Industrial Science and Technology (AIST)
00008  */
00014 #ifndef HRPMODEL_SENSOR_H_INCLUDED
00015 #define HRPMODEL_SENSOR_H_INCLUDED
00016 
00017 #include <string>
00018 #include <iostream>
00019 #include <vector>
00020 #include <hrpUtil/Eigen3d.h>
00021 #include "Config.h"
00022 
00023 namespace hrp {
00024 
00025     class Link;
00026 
00027     class HRPMODEL_API Sensor
00028     {
00029       public:
00030 
00031         enum SensorType {
00032             COMMON = 0,
00033             FORCE,
00034             RATE_GYRO,
00035             ACCELERATION,
00036             PRESSURE,
00037             PHOTO_INTERRUPTER,
00038             VISION,
00039             TORQUE,
00040             RANGE,
00041             NUM_SENSOR_TYPES
00042         };
00043 
00044         static const int TYPE = COMMON;
00045                 
00046         Sensor(); 
00047         virtual ~Sensor();
00048 
00049         static Sensor* create(int type);
00050         static void destroy(Sensor* sensor);
00051 
00052         virtual void operator=(const Sensor& org);
00053 
00054         virtual void clear();
00055                 
00056         std::string             name;
00057         int                             type;
00058         int                             id;
00059         Link*                   link;
00060         Matrix33                localR;
00061         Vector3                 localPos;
00062 
00063         virtual void putInformation(std::ostream& os);
00064 
00065     };
00066 
00067 
00068     class HRPMODEL_API ForceSensor : public Sensor
00069     {
00070       public:
00071         static const int TYPE = FORCE;
00072                 
00073         ForceSensor();
00074         Vector3 f;
00075         Vector3 tau;
00076 
00077         virtual void clear();
00078         virtual void putInformation(std::ostream& os);
00079     };
00080 
00081 
00082     class HRPMODEL_API RateGyroSensor : public Sensor
00083     {
00084       public:
00085         static const int TYPE = RATE_GYRO;
00086 
00087         RateGyroSensor();
00088         Vector3 w;
00089 
00090         virtual void clear();
00091         virtual void putInformation(std::ostream& os);
00092     };
00093 
00094 
00095     class HRPMODEL_API AccelSensor : public Sensor
00096     {
00097       public:
00098         EIGEN_MAKE_ALIGNED_OPERATOR_NEW
00099 
00100         static const int TYPE = ACCELERATION;
00101 
00102         AccelSensor();
00103 
00104         Vector3 dv;
00105 
00106         virtual void clear();
00107         virtual void putInformation(std::ostream& os);
00108 
00109         // The following members are used in the ForwardDynamics class
00110         typedef Eigen::Vector2d vector2;
00111         vector2 x[3]; 
00112         bool isFirstUpdate;
00113     };
00114 
00115     class HRPMODEL_API RangeSensor : public Sensor
00116     {
00117       public:
00118         static const int TYPE = RANGE;
00119 
00120         RangeSensor();
00121 
00122         double scanAngle, scanStep, scanRate, maxDistance;  
00123         std::vector<double> distances;
00124         double nextUpdateTime;
00125         bool isUpdated, isEnabled;
00126     };
00127 
00128 #ifdef far
00129 #undef far
00130 #endif
00131 #ifdef near
00132 #undef near
00133 #endif
00134 
00135     class HRPMODEL_API VisionSensor : public Sensor
00136     {
00137       public:
00138         typedef enum {NONE, COLOR, MONO, DEPTH, COLOR_DEPTH, MONO_DEPTH} ImageType;
00139         static const int TYPE = VISION;
00140 
00141         VisionSensor();
00142         int width, height;
00143         double far, near, fovy, frameRate;
00144         ImageType imageType;
00145         std::vector<unsigned char> image;
00146         std::vector<unsigned char> depth;
00147         double nextUpdateTime;
00148         bool isUpdated, isEnabled;
00149     };
00150 };
00151 
00152 
00153 #endif


openhrp3
Author(s): AIST, General Robotix Inc., Nakamura Lab of Dept. of Mechano Informatics at University of Tokyo
autogenerated on Thu Apr 11 2019 03:30:19