SimulatedSensor (RobWork Java API Documentation)

java.lang.Object
- org.robwork.sdurw_kinematics.Stateless
- - org.robwork.sdurw_simulation.SimulatedSensor

Direct Known Subclasses:

SimulatedCamera, SimulatedScanner25D, SimulatedScanner2D
```
public class SimulatedSensor
extends Stateless
```
simulated sensor interface

Constructor Summary

Constructors
Constructor Description

SimulatedSensor(long cPtr, boolean cMemoryOwn)

Method Summary

All Methods Static Methods Instance Methods Concrete Methods
Modifier and Type	Method	Description
`void`	`delete()`
`static long`	`getCPtr(SimulatedSensor obj)`
`Frame`	`getFrame()`	get frame that this sensor is attached to.
`java.lang.String`	`getName()`	get name of this simulated sensor
`SensorPtr`	`getSensorHandle(SimulatorPtr sim)`	get a handle to controlling an instance of the simulated sensor in a specific simulator
`SensorModelPtr`	`getSensorModel()`	get the sensor model of this simulated sensor.
`void`	`reset(State state)`	Resets the state of the SimulatedSensor to that of state
`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_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
  - SimulatedSensor
```
public SimulatedSensor(long cPtr,
                       boolean cMemoryOwn)
```
- Method Detail
  - getCPtr
```
public static long getCPtr(SimulatedSensor obj)
```
  - delete
```
public void delete()
```
    Overrides:
    
    delete in class Stateless
  - getName
```
public java.lang.String getName()
```
    get name of this simulated sensor
  - getFrame
```
public Frame getFrame()
```
    get frame that this sensor is attached to.
    
    Returns:
    
    frame
  - update
```
public void update(Simulator.UpdateInfo info,
                   State state)
```
    steps the the SimulatedSensor with time dt and saves any state
    changes in state.
    
    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)
```
    Resets the state of the SimulatedSensor to that of state
    
    Parameters:
    
    state - [in] the state that the sensor is reset too.
  - getSensorModel
```
public SensorModelPtr getSensorModel()
```
    get the sensor model of this simulated sensor.
  - getSensorHandle
```
public SensorPtr getSensorHandle(SimulatorPtr sim)
```
    get a handle to controlling an instance of the simulated sensor in a specific
    simulator
    
    Parameters:
    
    sim - [in] the simulator in which the handle is active