Sensor.cpp

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/*
 * 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:
 * National Institute of Advanced Industrial Science and Technology (AIST)
 */


#include "Sensor.h"

#ifndef M_PI
#define M_PI 3.14159265358979323846
#endif

using namespace hrp;


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 RANGE:
                sensor = new RangeSensor();
                break;
    case VISION:
                sensor = new VisionSensor();
                break;

    case PRESSURE:
    case PHOTO_INTERRUPTER:
    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.setZero();
    tau.setZero();
}


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.setZero();
}


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) = 9.8;
}


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

RangeSensor::RangeSensor()
{
        type = RANGE;
        scanAngle = M_PI;
        scanStep = 0.1;
        scanRate = 10;
        maxDistance = 10;
        nextUpdateTime = 0;
        isUpdated = false;
        isEnabled = false;
}

VisionSensor::VisionSensor()
{
    type = VISION;
    near = 0.01;
    far = 10.0;
    width = 320;
    height = 240;
    imageType = NONE;
    frameRate = 30.0;
    nextUpdateTime = 0;
    isUpdated = false;
    isEnabled = false;
}