VirtualRangeSensor.cpp

Go to the documentation of this file.

/* 
 * Copyright (c) 2013 University of Jaume-I.
 * All rights reserved. This program and the accompanying materials
 * are made available under the terms of the GNU Public License v3.0
 * which accompanies this distribution, and is available at
 * http://www.gnu.org/licenses/gpl.html
 * 
 * Contributors:
 *     Mario Prats
 *     Javier Perez
 */

#include <uwsim/VirtualRangeSensor.h>
#include <uwsim/UWSimUtils.h>
#include <iostream>

VirtualRangeSensor::VirtualRangeSensor()
{
}

VirtualRangeSensor::VirtualRangeSensor(std::string name, osg::Node *root, osg::Node *trackNode, double range,
                                       bool visible)
{
  init(name, root, trackNode, range, visible);
}

void VirtualRangeSensor::init(std::string name, osg::Node *root, osg::Node *trackNode, double range, bool visible)
{
  this->name = name;
  this->root = root;

  this->trackNode = trackNode;
  //Add a switchable frame geometry on the sensor frame
  osg::ref_ptr < osg::Node > axis = UWSimGeometry::createSwitchableFrame();
  this->trackNode->asGroup()->addChild(axis);

  this->range = range;
  this->visible = visible;

  //make this virtual ray track the node
  node_tracker = new IntersectorUpdateCallback(range, visible, root);
  trackNode->setUpdateCallback(node_tracker);
  trackNode->asGroup()->addChild(node_tracker->geode);
}