arl::robot::Sensor Class Reference

An abstract class that implements a robot sensor. More...

#include <sensor.h>

Inheritance diagram for arl::robot::Sensor:

Public Types
enum	Type { FT_SENSOR, FORCE_SENSOR }
	Different sensor types. More...

Public Member Functions
	Sensor ()
	Empty constructor. More...
	Sensor (const std::string &name="Unnamed")
	Default constructor. More...
virtual void	getData (KDL::JntArray &output)
	Reads the current joint positions to the robot using KDL. More...
virtual void	getData (arma::vec &output)
	Reads the current joint positions from the robot using Armadillo. More...
virtual Eigen::Vector6d	getData (const Eigen::Matrix3d &rotation)
virtual void	getData (Eigen::VectorXd &output)
	Reads the current joint positions from the robot using Eigen. More...
std::string	getName ()
	Returns the name of the sensor. More...
virtual bool	isOk ()
	Returns if the robot sensor is ok and operable. Should be implemented according to the robot in use. More...

Public Attributes
double	cycle
	The control cycle of the robot sensor. More...
std::string	alias
	The alias of the robot sensor, which is the name in lower case without spaces. More...
Type	type
std::string	frame_id

Protected Member Functions
void	throwFunctionIsNotImplemented (std::string function_name)

Protected Attributes
std::string	sensor_name
	The name of the robot sensor. More...

Detailed Description

An abstract class that implements a robot sensor.

This class encaptulates functionalities that abstracts any robot sensor. The core functionalities are initialize and read from the robot sensor. This API class aims to support multiple client libraries like KDL, Armadillo or Eigen.

Member Enumeration Documentation

enum arl::robot::Sensor::Type

Different sensor types.

Enumerator
FT_SENSOR
FORCE_SENSOR

Constructor & Destructor Documentation

arl::robot::Sensor::Sensor

(

)

Empty constructor.

arl::robot::Sensor::Sensor ( const std::string &  name = "Unnamed" )

explicit

Default constructor.

Parameters

name	The name of the robot sensor. Defaults to "Unnamed"

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Member Function Documentation

void arl::robot::Sensor::getData ( KDL::JntArray &  output )

virtual

Reads the current joint positions to the robot using KDL.

Parameters

output

The output given by the robot sensor

Reimplemented in ati::sensor::Sensor.

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void arl::robot::Sensor::getData ( arma::vec &  output )

virtual

Reads the current joint positions from the robot using Armadillo.

Parameters

output

The output given by the robot sensor

Reimplemented in ati::sensor::Sensor.

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virtual Eigen::Vector6d arl::robot::Sensor::getData ( const Eigen::Matrix3d &  rotation )

inlinevirtual

Reimplemented in ati::sensor::Sensor.

void arl::robot::Sensor::getData ( Eigen::VectorXd &  output )

virtual

Reads the current joint positions from the robot using Eigen.

Parameters

output

The output given by the robot sensor

Reimplemented in ati::sensor::Sensor.

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std::string arl::robot::Sensor::getName

(

)

Returns the name of the sensor.

Returns

The name of the sensor.

bool arl::robot::Sensor::isOk ( )

virtual

Returns if the robot sensor is ok and operable. Should be implemented according to the robot in use.

Returns

True if the robot haven't returns any errors. False otherwise.

Reimplemented in ati::sensor::Sensor.

void arl::robot::Sensor::throwFunctionIsNotImplemented ( std::string  function_name )

protected

Prints a warning that the function is not implemented by the derived class.

Member Data Documentation

std::string arl::robot::Sensor::alias

The alias of the robot sensor, which is the name in lower case without spaces.

double arl::robot::Sensor::cycle

The control cycle of the robot sensor.

Can be reading it online by the robot sensor or setted by the contructor of your robot.

std::string arl::robot::Sensor::frame_id

std::string arl::robot::Sensor::sensor_name

protected

The name of the robot sensor.

Type arl::robot::Sensor::type