Package org.robwork.sdurw_simulation

Class SimulatedScanner25D

java.lang.Object

org.robwork.sdurw_kinematics.Stateless

org.robwork.sdurw_simulation.SimulatedSensor

org.robwork.sdurw_simulation.SimulatedScanner25D

public class SimulatedScanner25D
extends SimulatedSensor

a simulated range scanner for 2.5D images, that is basically
pointclouds without color information.

Constructor Summary

Constructors

Constructor	Description
SimulatedScanner25D(long cPtr, boolean cMemoryOwn)
SimulatedScanner25D(java.lang.String name, java.lang.String desc, FramePtr frame, FrameGrabber25DPtr framegrabber)	constructor
SimulatedScanner25D(java.lang.String name, FramePtr frame, FrameGrabber25DPtr framegrabber)	constructor

Method Summary

Modifier and Type	Method	Description
void	acquire()
void	close()
void	delete()
static long	getCPtr(SimulatedScanner25D obj)
double	getFrameRate()
pair_d_d	getRange()
PointCloud	getScan()
Scanner25DPtr	getScanner25DSensor(SimulatorPtr instance)	get instance of scanner
SensorPtr	getSensorHandle(SimulatorPtr instance)	get a handle to controlling an instance of the simulated sensor in a specific simulator
boolean	isOpen()
boolean	isScanReady()
void	open()
void	reset(State state)	Resets the state of the SimulatedSensor to that of state
void	setFrameRate(double rate)	set the framerate in frames per sec.
void	update(Simulator.UpdateInfo info, State state)	steps the the SimulatedSensor with time dt and saves any state changes in state.

Methods inherited from class org.robwork.sdurw_simulation.SimulatedSensor

getCPtr, getFrame, getName, getSensorModel

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

SimulatedScanner25D

public SimulatedScanner25D(long cPtr,
                           boolean cMemoryOwn)

SimulatedScanner25D

public SimulatedScanner25D(java.lang.String name,
                           FramePtr frame,
                           FrameGrabber25DPtr framegrabber)

constructor

Parameters:

name - [in] name of this simulated scanner

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

framegrabber - [in] the framegrabber used for grabbing 2.5D images

SimulatedScanner25D

public SimulatedScanner25D(java.lang.String name,
                           java.lang.String desc,
                           FramePtr frame,
                           FrameGrabber25DPtr framegrabber)

constructor

Parameters:

name - [in] name of this simulated scanner

desc - [in] description of this scanner

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

framegrabber - [in] the framegrabber used for grabbing 2.5D images

Method Detail

getCPtr

public static long getCPtr(SimulatedScanner25D obj)

delete

public void delete()

Overrides:

delete in class SimulatedSensor

setFrameRate

public void setFrameRate(double rate)

set the framerate in frames per sec.

Parameters:

rate - [in] frames per sec

open

public void open()

isOpen

public boolean isOpen()

close

public void close()

acquire

public void acquire()

isScanReady

public boolean isScanReady()

getRange

public pair_d_d getRange()

getFrameRate

public double getFrameRate()

getScan

public PointCloud getScan()

update

public void update(Simulator.UpdateInfo info,
                   State state)

Description copied from class: SimulatedSensor

steps the the SimulatedSensor with time dt and saves any state
changes in state.

Overrides:

update in class SimulatedSensor

Parameters:

info - [in] update information related to the time step.

state - [out] changes of the SimulatedSensor is saved in state.

reset

public void reset(State state)

Description copied from class: SimulatedSensor

Resets the state of the SimulatedSensor to that of state

Overrides:

reset in class SimulatedSensor

Parameters:

state - [in] the state that the sensor is reset too.

getSensorHandle

public SensorPtr getSensorHandle(SimulatorPtr instance)

get a handle to controlling an instance of the simulated sensor in a specific
simulator

Overrides:

getSensorHandle in class SimulatedSensor

Parameters:

instance - [in] the simulator in which the handle is active

getScanner25DSensor

public Scanner25DPtr getScanner25DSensor(SimulatorPtr instance)

get instance of scanner