Package org.robwork.sdurw_simulation

Class SimulatedScanner2D

java.lang.Object

org.robwork.sdurw_kinematics.Stateless

org.robwork.sdurw_simulation.SimulatedSensor

org.robwork.sdurw_simulation.SimulatedScanner2D

public class SimulatedScanner2D
extends SimulatedSensor

Simulated scanner in 2D.

Constructor Summary

Constructors

Constructor	Description
SimulatedScanner2D(long cPtr, boolean cMemoryOwn)
SimulatedScanner2D(java.lang.String name, java.lang.String desc, FramePtr frame, FrameGrabber25DPtr framegrabber)	constructor
SimulatedScanner2D(java.lang.String name, FramePtr frame, FrameGrabber25DPtr framegrabber)	constructor

Method Summary

Modifier and Type	Method	Description
void	acquire()
void	close()
void	delete()
double	getAngularRange()
static long	getCPtr(SimulatedScanner2D obj)
double	getFrameRate()
long	getMeasurementCount()
pair_d_d	getRange()
PointCloud	getScan()
Scanner2DPtr	getScanner2DSensor(Simulator instance)	returns a handle to what represents a statefull interface. The handle will be locked to the 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, getSensorHandle, 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

SimulatedScanner2D

public SimulatedScanner2D(long cPtr,
                          boolean cMemoryOwn)

SimulatedScanner2D

public SimulatedScanner2D(java.lang.String name,
                          FramePtr frame,
                          FrameGrabber25DPtr framegrabber)

constructor

Parameters:

name - [in] name of this simulated scanner

frame - [in] the sensor frame.

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

SimulatedScanner2D

public SimulatedScanner2D(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 sensor frame.

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

Method Detail

getCPtr

public static long getCPtr(SimulatedScanner2D 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.

getScanner2DSensor

public Scanner2DPtr getScanner2DSensor(Simulator instance)

returns a handle to what represents a statefull interface.
The handle will be locked to the simulator

Returns:

getAngularRange

public double getAngularRange()

getMeasurementCount

public long getMeasurementCount()