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SCL
1.0
Standard Control Library : Control, dynamics, physics, and simulation
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SCL
1.0
Standard Control Library : Control, dynamics, physics, and simulation
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#include <CSensorSetBase.hpp>
Public Member Functions | |
| virtual sBool | sense ()=0 |
| virtual sBool | getSensorOutputs (Eigen::VectorXd &ret_output)=0 |
| virtual sBool | init ()=0 |
| virtual sBool | hasBeenInit () |
| CSensorSetBase () | |
| virtual | ~CSensorSetBase () |
Protected Attributes | |
| sutil::CMappedPointerList < std::string, CSensorBase, true > | sensors_ |
| sBool | has_been_init_ |
An sensor set combines a variety of potentially different sensors into a common interface that a controller can interact with. The number of sensors is not necessarily related to the degrees of freedom of the system (could be more, equal or less, or could even be video feeds etc.).
Subclasses of this class will simply organize sensors into a coherent interface, abstracting all physical details and exposing a data source for the controller.
NOTE for "Real Robots": While working with a real robot, subclass this base class and implement your driver in it.
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inline |
Default constructor. Sets stuff to NULL
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inlinevirtual |
Default destructor. Does nothing.
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pure virtual |
Gets the output of the sensor. Returned in the passed variable.
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inlinevirtual |
Has this sensor been initialized
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pure virtual |
Initialize the sensor set
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pure virtual |
Reads the sensors. These will be translated into individual sensor commands.
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protected |
Initialization state
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protected |
A collection of sensors that a controller can send commands to
1.8.6
