Go to the documentation of this file.00001
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00017 #include "Sensor.h"
00018
00019 Sensor::Sensor()
00020 {
00021 type = COMMON;
00022 }
00023
00024
00025 Sensor* Sensor::create(int type)
00026 {
00027 Sensor* sensor;
00028
00029 switch(type){
00030
00031 case FORCE:
00032 sensor = new ForceSensor();
00033 break;
00034
00035 case RATE_GYRO:
00036 sensor = new RateGyroSensor();
00037 break;
00038
00039 case ACCELERATION:
00040 sensor = new AccelSensor();
00041 break;
00042
00043 case PRESSURE:
00044 case PHOTO_INTERRUPTER:
00045 case VISION:
00046 case TORQUE:
00047 sensor = new Sensor();
00048 break;
00049 default:
00050 sensor = 0;
00051 }
00052
00053 return sensor;
00054 }
00055
00056
00057 Sensor:: ~Sensor()
00058 {
00059
00060 }
00061
00062
00063 void Sensor::operator=(const Sensor& org)
00064 {
00065 name = org.name;
00066 type = org.type;
00067 id = org.id;
00068 localR = org.localR;
00069 localPos = org.localPos;
00070 }
00071
00072
00073 void Sensor::destroy(Sensor* sensor)
00074 {
00075 delete sensor;
00076 }
00077
00078
00079 void Sensor::clear()
00080 {
00081
00082 }
00083
00084
00085 void Sensor::putInformation(std::ostream &os)
00086 {
00087 os << "name = " << name << ", id = " << id << "\n";
00088 os << "localAttitude = " << localR << ", localPos = " << localPos << std::endl;
00089 }
00090
00091
00092 ForceSensor::ForceSensor()
00093 {
00094 type = FORCE;
00095 }
00096
00097
00098 void ForceSensor::clear()
00099 {
00100 f = 0.0;
00101 tau = 0.0;
00102 }
00103
00104
00105 void ForceSensor::putInformation(std::ostream& os)
00106 {
00107 os << "Force Sensor\n";
00108 Sensor::putInformation(os);
00109 os << "f = " << f << "tau = " << tau << std::endl;
00110 }
00111
00112
00113 RateGyroSensor::RateGyroSensor()
00114 {
00115 type = RATE_GYRO;
00116 }
00117
00118
00119 void RateGyroSensor::clear()
00120 {
00121 w = 0.0;
00122 }
00123
00124
00125 void RateGyroSensor::putInformation(std::ostream& os)
00126 {
00127 os << "Gyro\n";
00128 Sensor::putInformation(os);
00129 os << "omega = " << w << std::endl;
00130 }
00131
00132
00133 AccelSensor::AccelSensor()
00134 {
00135 type = ACCELERATION;
00136 clear();
00137 }
00138
00139
00140 void AccelSensor::clear()
00141 {
00142 dv(0) = 0.0;
00143 dv(1) = 0.0;
00144 dv(2) = 0.0;
00145 }
00146
00147
00148 void AccelSensor::putInformation(std::ostream& os)
00149 {
00150 os << "Acceleration Sensor\n";
00151 Sensor::putInformation(os);
00152 os << "dv = " << dv << std::endl;
00153 }