Package org.robwork.sdurw
Class SensorModel
- java.lang.Object
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- org.robwork.sdurw_kinematics.Stateless
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- org.robwork.sdurw.SensorModel
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- Direct Known Subclasses:
CameraModel
,FTSensorModel
,RGBDCameraModel
,Scanner25DModel
,Scanner2DModel
,StereoCameraModel
,TactileArrayModel
public class SensorModel extends Stateless
a general sensormodel interface. The sensormodel describe the model of a sensor
and define the data that are part of the State. Much like Device, which describe
the kinematic model of a robot. A sensormodel should have a name id and be associated,
referenced to some frame in the workcell.
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Constructor Summary
Constructors Constructor Description SensorModel(long cPtr, boolean cMemoryOwn)
SensorModel(java.lang.String name, Frame frame)
constructor
SensorModel(java.lang.String name, Frame frame, java.lang.String description)
constructor
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Method Summary
All Methods Static Methods Instance Methods Concrete Methods Modifier and Type Method Description void
attachTo(Frame frame)
Sets the frame to which the sensor should be attached
void
delete()
static long
getCPtr(SensorModel obj)
java.lang.String
getDescription()
returns a description of this sensor
Frame
getFrame()
The frame to which the sensor is attached.
The frame can be NULL.java.lang.String
getName()
returns the name of this sensor
PropertyMap
getPropertyMap()
gets the propertymap of this sensorvoid
setDescription(java.lang.String description)
sets the description of this sensor
void
setName(java.lang.String name)
sets the name of this sensor
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Methods inherited from class org.robwork.sdurw_kinematics.Stateless
getCPtr, getStateStructure, isRegistered, registerIn, registerIn, unregister
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Constructor Detail
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SensorModel
public SensorModel(long cPtr, boolean cMemoryOwn)
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SensorModel
public SensorModel(java.lang.String name, Frame frame)
constructor
- Parameters:
name
- [in] the name of this sensorframe
- [in] the frame that the sensor is referenced to
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SensorModel
public SensorModel(java.lang.String name, Frame frame, java.lang.String description)
constructor
- Parameters:
name
- [in] the name of this sensorframe
- [in] the frame that the sensor is referenced todescription
- [in] description of the sensor
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Method Detail
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getCPtr
public static long getCPtr(SensorModel obj)
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setName
public void setName(java.lang.String name)
sets the name of this sensor
- Parameters:
name
- [in] name of this sensor
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setDescription
public void setDescription(java.lang.String description)
sets the description of this sensor
- Parameters:
description
- [in] description of this sensor
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getName
public java.lang.String getName()
returns the name of this sensor
- Returns:
- name of sensor
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getDescription
public java.lang.String getDescription()
returns a description of this sensor
- Returns:
- reference to this sensors description
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getFrame
public Frame getFrame()
The frame to which the sensor is attached.
The frame can be NULL.
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attachTo
public void attachTo(Frame frame)
Sets the frame to which the sensor should be attached
- Parameters:
frame
- The frame, which can be NULL
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getPropertyMap
public PropertyMap getPropertyMap()
gets the propertymap of this sensor- Returns:
- reference to rw::core::PropertyMap
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