Sensor.cpp
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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  */
00009 
00010 
00011 #include "Sensor.h"
00012 
00013 #ifndef M_PI
00014 #define M_PI 3.14159265358979323846
00015 #endif
00016 
00017 using namespace hrp;
00018 
00019 
00020 Sensor::Sensor()
00021 {
00022         type = COMMON;
00023 }
00024 
00025 
00026 Sensor* Sensor::create(int type)
00027 {
00028     Sensor* sensor;
00029 
00030     switch(type){
00031         
00032     case FORCE:
00033                 sensor = new ForceSensor();
00034                 break;
00035                 
00036     case RATE_GYRO:
00037                 sensor = new RateGyroSensor();
00038                 break;
00039                 
00040     case ACCELERATION:
00041                 sensor = new AccelSensor();
00042                 break;
00043 
00044     case RANGE:
00045                 sensor = new RangeSensor();
00046                 break;
00047     case VISION:
00048                 sensor = new VisionSensor();
00049                 break;
00050 
00051     case PRESSURE:
00052     case PHOTO_INTERRUPTER:
00053     case TORQUE:
00054                 sensor = new Sensor();
00055                 break;
00056     default:
00057                 sensor = 0;
00058     }
00059         
00060     return sensor;
00061 }
00062 
00063 
00064 Sensor:: ~Sensor()
00065 {
00066         
00067 }
00068 
00069 
00070 void Sensor::operator=(const Sensor& org)
00071 {
00072         name            = org.name;
00073         type            = org.type;
00074         id                      = org.id;
00075         localR          = org.localR;
00076         localPos        = org.localPos;
00077 }
00078         
00079 
00080 void Sensor::destroy(Sensor* sensor)
00081 {
00082     delete sensor;
00083 }
00084 
00085 
00086 void Sensor::clear()
00087 {
00088 
00089 }
00090 
00091 
00092 void Sensor::putInformation(std::ostream &os)
00093 {
00094         os << "name = " << name << ", id = " << id << "\n";
00095     os << "localAttitude = " << localR << ", localPos = " << localPos << std::endl;
00096 }
00097 
00098 
00099 ForceSensor::ForceSensor()
00100 {
00101         type = FORCE;
00102 }
00103 
00104 
00105 void ForceSensor::clear()
00106 {
00107     f.setZero();
00108     tau.setZero();
00109 }
00110 
00111 
00112 void ForceSensor::putInformation(std::ostream& os)
00113 {
00114         os << "Force Sensor\n";
00115         Sensor::putInformation(os);
00116         os << "f = " << f << "tau = " << tau << std::endl;
00117 }
00118 
00119 
00120 RateGyroSensor::RateGyroSensor()
00121 {
00122         type = RATE_GYRO;
00123 }
00124 
00125 
00126 void RateGyroSensor::clear()
00127 {
00128     w.setZero();
00129 }
00130 
00131 
00132 void RateGyroSensor::putInformation(std::ostream& os)
00133 {
00134         os << "Gyro\n";
00135         Sensor::putInformation(os);
00136         os << "omega = " << w << std::endl;
00137 }
00138 
00139 
00140 AccelSensor::AccelSensor()
00141 {
00142         type = ACCELERATION;
00143         clear();
00144 }
00145 
00146 
00147 void AccelSensor::clear()
00148 {
00149     dv(0) = 0.0;
00150     dv(1) = 0.0;
00151     dv(2) = 9.8;
00152 }
00153 
00154 
00155 void AccelSensor::putInformation(std::ostream& os)
00156 {
00157         os << "Acceleration Sensor\n";
00158         Sensor::putInformation(os);
00159         os << "dv = " << dv << std::endl;
00160 }
00161 
00162 RangeSensor::RangeSensor()
00163 {
00164         type = RANGE;
00165         scanAngle = M_PI;
00166         scanStep = 0.1;
00167         scanRate = 10;
00168         maxDistance = 10;
00169         nextUpdateTime = 0;
00170         isUpdated = false;
00171         isEnabled = false;
00172 }
00173 
00174 VisionSensor::VisionSensor()
00175 {
00176     type = VISION;
00177     near = 0.01;
00178     far = 10.0;
00179     width = 320;
00180     height = 240;
00181     imageType = NONE;
00182     frameRate = 30.0;
00183     nextUpdateTime = 0;
00184     isUpdated = false;
00185     isEnabled = false;
00186 } 


openhrp3
Author(s): AIST, General Robotix Inc., Nakamura Lab of Dept. of Mechano Informatics at University of Tokyo
autogenerated on Sun Apr 2 2017 03:43:57