Package org.robwork.sdurw

Class Scanner25DModel

java.lang.Object

org.robwork.sdurw_kinematics.Stateless

org.robwork.sdurw.SensorModel

org.robwork.sdurw.Scanner25DModel

public class Scanner25DModel
extends SensorModel

Model of a 25D (2D with depth information) scanner. The images are
essentially point clouds.

Constructor Summary

Constructors

Constructor	Description
Scanner25DModel(long cPtr, boolean cMemoryOwn)
Scanner25DModel(java.lang.String name, int width, int height, Frame frame)	constructor

Method Summary

Modifier and Type	Method	Description
void	delete()
static long	getCPtr(Scanner25DModel obj)
int	getHeight()	height of images taken with 25 sensor
pairDoubleDouble	getRange()	get the min and maximum depth of this scanner in meters
PointCloud	getScan(State state)	get handle to point cloud data in state.
int	getWidth()	width of images taken with 25 sensor
void	setRange(double min, double max)	set the min and maximum depth of this scanner in meters
void	setRange(pairDoubleDouble range)	set the min and maximum depth of this scanner in meters
void	setScan(PointCloud data, State state)	set point cloud data in state

Methods inherited from class org.robwork.sdurw.SensorModel

attachTo, getCPtr, getDescription, getFrame, getName, getPropertyMap, setDescription, setName

Methods inherited from class org.robwork.sdurw_kinematics.Stateless

getCPtr, getStateStructure, isRegistered, registerIn, registerIn, unregister

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

Scanner25DModel

public Scanner25DModel(long cPtr,
                       boolean cMemoryOwn)

Scanner25DModel

public Scanner25DModel(java.lang.String name,
                       int width,
                       int height,
                       Frame frame)

constructor

Parameters:

name - [in] name of scanner sensor

width - [in]

height - [in]

frame - [in] the frame that the scanner is attached to

Method Detail

getCPtr

public static long getCPtr(Scanner25DModel obj)

delete

public void delete()

Overrides:

delete in class SensorModel

getScan

public PointCloud getScan(State state)

get handle to point cloud data in state.

Parameters:

state - [in] the state with point cloud data

setScan

public void setScan(PointCloud data,
                    State state)

set point cloud data in state

Parameters:

data - [in] point cloud data to set

state - [in] state in which to set the point cloud

getWidth

public int getWidth()

width of images taken with 25 sensor

getHeight

public int getHeight()

height of images taken with 25 sensor

getRange

public pairDoubleDouble getRange()

get the min and maximum depth of this scanner in meters

setRange

public void setRange(double min,
                     double max)

set the min and maximum depth of this scanner in meters

setRange

public void setRange(pairDoubleDouble range)

set the min and maximum depth of this scanner in meters