server/UtDynamicsSimulator/Sensor.cpp

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// -*- mode: c++; indent-tabs-mode: t; tab-width: 4; c-basic-offset: 4; -*-
/*
 * Copyright (c) 2008, AIST, the University of Tokyo and General Robotix Inc.
 * All rights reserved. This program is made available under the terms of the
 * Eclipse Public License v1.0 which accompanies this distribution, and is
 * available at http://www.eclipse.org/legal/epl-v10.html
 * Contributors:
 * The University of Tokyo
 * National Institute of Advanced Industrial Science and Technology (AIST)
 * General Robotix Inc. 
 */

#include "Sensor.h"

Sensor::Sensor()
{
        type = COMMON;
}


Sensor* Sensor::create(int type)
{
    Sensor* sensor;

    switch(type){
        
    case FORCE:
                sensor = new ForceSensor();
                break;
                
    case RATE_GYRO:
                sensor = new RateGyroSensor();
                break;
                
    case ACCELERATION:
                sensor = new AccelSensor();
                break;
                
    case PRESSURE:
    case PHOTO_INTERRUPTER:
    case VISION:
    case TORQUE:
                sensor = new Sensor();
                break;
    default:
                sensor = 0;
    }
        
    return sensor;
}


Sensor:: ~Sensor()
{
        
}


void Sensor::operator=(const Sensor& org)
{
        name            = org.name;
        type            = org.type;
        id                      = org.id;
        localR          = org.localR;
        localPos        = org.localPos;
}
        

void Sensor::destroy(Sensor* sensor)
{
    delete sensor;
}


void Sensor::clear()
{

}


void Sensor::putInformation(std::ostream &os)
{
        os << "name = " << name << ", id = " << id << "\n";
    os << "localAttitude = " << localR << ", localPos = " << localPos << std::endl;
}


ForceSensor::ForceSensor()
{
        type = FORCE;
}


void ForceSensor::clear()
{
    f = 0.0;
    tau = 0.0;
}


void ForceSensor::putInformation(std::ostream& os)
{
        os << "Force Sensor\n";
        Sensor::putInformation(os);
        os << "f = " << f << "tau = " << tau << std::endl;
}


RateGyroSensor::RateGyroSensor()
{
        type = RATE_GYRO;
}


void RateGyroSensor::clear()
{
    w = 0.0;
}


void RateGyroSensor::putInformation(std::ostream& os)
{
        os << "Gyro\n";
        Sensor::putInformation(os);
        os << "omega = " << w << std::endl;
}


AccelSensor::AccelSensor()
{
        type = ACCELERATION;
        clear();
}


void AccelSensor::clear()
{
    dv(0) = 0.0;
    dv(1) = 0.0;
    dv(2) = 0.0;
}


void AccelSensor::putInformation(std::ostream& os)
{
        os << "Acceleration Sensor\n";
        Sensor::putInformation(os);
        os << "dv = " << dv << std::endl;
}