Inheritance diagram for VirtualRobot::Sensor:

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	Sensor (GraspableSensorizedObjectWeakPtr parentNode, const std::string &name, VisualizationNodePtr visualization=VisualizationNodePtr(), const Eigen::Matrix4f &rnTrafo=Eigen::Matrix4f::Identity())

	~Sensor () override

RobotNodePtr	getRobotNode () const

GraspableSensorizedObjectPtr	getParentNode () const

virtual Eigen::Matrix4f	getParentNodeToSensorTransformation ()

virtual void	setRobotNodeToSensorTransformation (const Eigen::Matrix4f &t)

void	setGlobalPose (const Eigen::Matrix4f &pose) override

void	print (bool printChildren=false, bool printDecoration=true) const override

virtual SensorPtr	clone (GraspableSensorizedObjectPtr newNode, float scaling=1.0f)

SceneObjectPtr	clone (const std::string &, CollisionCheckerPtr=CollisionCheckerPtr(), float=1.0f) const
	Forbid cloning method from SceneObject. We need to know the new parent node for cloning. More...

void	updatePose (bool updateChildren=true) override

bool	initialize (SceneObjectPtr parent=SceneObjectPtr(), const std::vector< SceneObjectPtr > &children=std::vector< SceneObjectPtr >()) override

virtual std::string	toXML (const std::string &modelPath, int tabs=1)

Public Member Functions inherited from VirtualRobot::SceneObject
	SceneObject (const std::string &name, VisualizationNodePtr visualization=VisualizationNodePtr(), CollisionModelPtr collisionModel=CollisionModelPtr(), const Physics &p=Physics(), CollisionCheckerPtr colChecker=CollisionCheckerPtr())

virtual	~SceneObject ()

std::string	getName () const

void	setName (const std::string &name)

virtual Eigen::Matrix4f	getGlobalPose () const

virtual Eigen::Vector3f	getGlobalPosition () const

virtual Eigen::Matrix3f	getGlobalOrientation () const

virtual Eigen::Matrix4f	getGlobalPose (const Eigen::Matrix4f &localPose) const

virtual Eigen::Vector3f	getGlobalPosition (const Eigen::Vector3f &localPosition) const

virtual Eigen::Vector3f	getGlobalDirection (const Eigen::Vector3f &localDircetion) const

virtual Eigen::Matrix3f	getGlobalOrientation (const Eigen::Matrix3f &localOrientation) const

virtual void	setGlobalPoseNoChecks (const Eigen::Matrix4f &pose)

virtual CollisionModelPtr	getCollisionModel ()

virtual CollisionCheckerPtr	getCollisionChecker ()

void	setVisualization (VisualizationNodePtr visualization)

void	setCollisionModel (CollisionModelPtr colModel)

virtual VisualizationNodePtr	getVisualization (SceneObject::VisualizationType visuType=SceneObject::Full)

virtual void	setUpdateVisualization (bool enable)

bool	getUpdateVisualizationStatus ()

virtual void	setUpdateCollisionModel (bool enable)

bool	getUpdateCollisionModelStatus ()

virtual void	setupVisualization (bool showVisualization, bool showAttachedVisualizations)

virtual void	showCoordinateSystem (bool enable, float scaling=1.0f, std::string *text=NULL, const std::string &visualizationType="")

virtual void	showPhysicsInformation (bool enableCoM, bool enableInertial, VisualizationNodePtr comModel=VisualizationNodePtr())

virtual bool	showCoordinateSystemState ()

virtual void	showBoundingBox (bool enable, bool wireframe=false)

virtual bool	ensureVisualization (const std::string &visualizationType="")

Eigen::Matrix4f	toLocalCoordinateSystem (const Eigen::Matrix4f &poseGlobal) const

Eigen::Vector3f	toLocalCoordinateSystemVec (const Eigen::Vector3f &positionGlobal) const

Eigen::Matrix4f	toGlobalCoordinateSystem (const Eigen::Matrix4f &poseLocal) const

Eigen::Vector3f	toGlobalCoordinateSystemVec (const Eigen::Vector3f &positionLocal) const

Eigen::Matrix4f	getTransformationTo (const SceneObjectPtr otherObject) const

Eigen::Matrix4f	getTransformationFrom (const SceneObjectPtr otherObject) const

Eigen::Matrix4f	transformTo (const SceneObjectPtr otherObject, const Eigen::Matrix4f &poseInOtherCoordSystem)

Eigen::Vector3f	transformTo (const SceneObjectPtr otherObject, const Eigen::Vector3f &positionInOtherCoordSystem)

virtual int	getNumFaces (bool collisionModel=false)

virtual Eigen::Vector3f	getCoMLocal ()

void	setCoMLocal (const Eigen::Vector3f &comLocal)
	Set a new position for the CoM of this bode. More...

virtual Eigen::Vector3f	getCoMGlobal ()

float	getMass () const

void	setMass (float m)

Physics::SimulationType	getSimulationType () const

void	setSimulationType (Physics::SimulationType s)

Eigen::Matrix3f	getInertiaMatrix ()

Eigen::Matrix3f	getInertiaMatrix (const Eigen::Vector3f &shift)
	If the Inertia Matrix is given at the CoM, this function returns the Inertia Matrix at the parallel shifted coordinate system. The shift is done using the parallel axis theorem (https://en.wikipedia.org/wiki/Parallel_axis_theorem) More...

Eigen::Matrix3f	getInertiaMatrix (const Eigen::Vector3f &shift, const Eigen::Matrix3f &rotation)

Eigen::Matrix3f	getInertiaMatrix (const Eigen::Matrix4f &transform)

void	setInertiaMatrix (const Eigen::Matrix3f &im)

float	getFriction ()

void	setFriction (float friction)

SceneObject::Physics	getPhysics ()

std::vector< std::string >	getIgnoredCollisionModels ()

template<typename T >
std::shared_ptr< T >	getVisualization (SceneObject::VisualizationType visuType=SceneObject::Full)

void	highlight (VisualizationPtr visualization, bool enable)

SceneObjectPtr	clone (const std::string &name, CollisionCheckerPtr colChecker=CollisionCheckerPtr(), float scaling=1.0f) const

SceneObjectPtr	clone (CollisionCheckerPtr colChecker=CollisionCheckerPtr(), float scaling=1.0f) const

virtual bool	attachChild (SceneObjectPtr child)

virtual void	detachChild (SceneObjectPtr child)

virtual bool	hasChild (SceneObjectPtr child, bool recursive=false) const

virtual bool	hasChild (const std::string &childName, bool recursive=false) const

virtual bool	hasParent () const

virtual SceneObjectPtr	getParent () const

virtual std::vector< SceneObjectPtr >	getChildren () const

virtual void	copyPoseFrom (const SceneObjectPtr &other)

virtual bool	saveModelFiles (const std::string &modelPath, bool replaceFilenames)

void	setScaling (float scaling)

float	getScaling ()

bool	reloadVisualizationFromXML (bool useVisAsColModelIfMissing=true)

const std::string &	getVisualizationModelXML () const

Protected Member Functions
void	updatePose (const Eigen::Matrix4f &parentPose, bool updateChildren=true) override

	Sensor ()

virtual SensorPtr	_clone (const GraspableSensorizedObjectPtr newNode, const VisualizationNodePtr visualizationModel, float scaling)=0

SceneObject *	_clone (const std::string &, CollisionCheckerPtr=CollisionCheckerPtr(), float=1.0f) const override

Protected Member Functions inherited from VirtualRobot::SceneObject
virtual void	detachedFromParent ()
	Parent detached this object. More...

virtual void	attached (SceneObjectPtr parent)
	Parent attached this object. More...

std::string	getFilenameReplacementVisuModel (const std::string standardExtension=".wrl")

std::string	getFilenameReplacementColModel (const std::string standardExtension=".wrl")

	SceneObject ()

std::string	getSceneObjectXMLString (const std::string &basePath, int tabs, const std::string &modelPathRelative="")
	basic data, used by Obstacle and ManipulationObject More...

virtual bool	initializePhysics ()

Protected Attributes
Eigen::Matrix4f	rnTransformation

GraspableSensorizedObjectWeakPtr	parentNode

Protected Attributes inherited from VirtualRobot::SceneObject
std::string	name

bool	initialized

Eigen::Matrix4f	globalPose

std::vector< SceneObjectPtr >	children

SceneObjectWeakPtr	parent

CollisionModelPtr	collisionModel

std::string	collisionModelXML

VisualizationNodePtr	visualizationModel

std::string	visualizationModelXML

std::filesystem::path	basePath

bool	updateVisualization

bool	updateCollisionModel

Physics	physics

CollisionCheckerPtr	collisionChecker

float	scaling = 1.0f

Friends
class	Robot

class	RobotIO

Additional Inherited Members
Public Types inherited from VirtualRobot::SceneObject
enum	VisualizationType { Full, Collision, CollisionData }

Static Public Member Functions inherited from VirtualRobot::SceneObject
static Eigen::Matrix3f	shiftInertia (const Eigen::Matrix3f inertiaMatrix, const Eigen::Vector3f &shift, float mass)
	The shift is done using the parallel axis theorem (https://en.wikipedia.org/wiki/Parallel_axis_theorem) More...

Detailed Description

A sensor can be attached to a GraspableSensorizedObject.

Constructor & Destructor Documentation

◆ Sensor() [1/2]

VirtualRobot::Sensor::Sensor	(	GraspableSensorizedObjectWeakPtr	parentNode,
		const std::string &	name,
		VisualizationNodePtr	visualization = `VisualizationNodePtr()`,
		const Eigen::Matrix4f &	rnTrafo = `Eigen::Matrix4f::Identity()`
	)

Constructor with settings.

◆ ~Sensor()

VirtualRobot::Sensor::~Sensor ( )

overridedefault

◆ Sensor() [2/2]

VirtualRobot::Sensor::Sensor ( )

inlineprotected

Member Function Documentation

◆ _clone() [1/2]

virtual SensorPtr VirtualRobot::Sensor::_clone	(	const GraspableSensorizedObjectPtr	newNode,
		const VisualizationNodePtr	visualizationModel,
		float	scaling
	)

protectedpure virtual

Derived classes must implement their clone method here. The visualization is already scaled, the kinematic information (i.e. transformations) have to be scaled by derived implementations.

Implemented in VirtualRobot::ContactSensor, VirtualRobot::ForceTorqueSensor, VirtualRobot::CameraSensor, and VirtualRobot::PositionSensor.

◆ _clone() [2/2]

SceneObject* VirtualRobot::Sensor::_clone	(	const std::string &	,
		CollisionCheckerPtr	= `CollisionCheckerPtr()`,
		float	= `1.0f`
	)		const

inlineoverrideprotectedvirtual

Reimplemented from VirtualRobot::SceneObject.

◆ clone() [1/2]

SensorPtr VirtualRobot::Sensor::clone	(	GraspableSensorizedObjectPtr	newNode,
		float	scaling = `1.0f`
	)

virtual

Clone this Sensor.

Parameters

newNode	The newly created Sensor belongs to newNode.
scaling	Scales the visualization and transformation data.

◆ clone() [2/2]

SceneObjectPtr VirtualRobot::Sensor::clone	(	const std::string &	,
		CollisionCheckerPtr	= `CollisionCheckerPtr()`,
		float	= `1.0f`
	)		const

inline

Forbid cloning method from SceneObject. We need to know the new parent node for cloning.

◆ getParentNode()

GraspableSensorizedObjectPtr VirtualRobot::Sensor::getParentNode ( ) const

◆ getParentNodeToSensorTransformation()

virtual Eigen::Matrix4f VirtualRobot::Sensor::getParentNodeToSensorTransformation ( )

inlinevirtual

The transformation that specifies the pose of the sensor relatively to the pose of the parent node.

◆ getRobotNode()

RobotNodePtr VirtualRobot::Sensor::getRobotNode ( ) const

returns the parent as robot node if it is a robot node otherwise a nullptr

◆ initialize()

bool VirtualRobot::Sensor::initialize	(	SceneObjectPtr	parent = `SceneObjectPtr()`,
		const std::vector< SceneObjectPtr > &	children = `std::vector<SceneObjectPtr>()`
	)

overridevirtual

Initialize this object. Optionally the parents and children can be specified.

Reimplemented from VirtualRobot::SceneObject.

◆ print()

void VirtualRobot::Sensor::print	(	bool	printChildren = `false`,
		bool	printDecoration = `true`
	)		const

overridevirtual

Print status information.

Reimplemented from VirtualRobot::SceneObject.

◆ setGlobalPose()

void VirtualRobot::Sensor::setGlobalPose ( const Eigen::Matrix4f & pose )

overridevirtual

Calling this SceneObject method will cause an exception, since Sensors are controlled via their node parent.

Reimplemented from VirtualRobot::SceneObject.

◆ setRobotNodeToSensorTransformation()

void VirtualRobot::Sensor::setRobotNodeToSensorTransformation ( const Eigen::Matrix4f & t )

virtual

Set the local transformation.

◆ toXML()

std::string VirtualRobot::Sensor::toXML	(	const std::string &	modelPath,
		int	tabs = `1`
	)

virtual

Reimplemented in VirtualRobot::ContactSensor, VirtualRobot::ForceTorqueSensor, VirtualRobot::PositionSensor, and VirtualRobot::CameraSensor.

◆ updatePose() [1/2]

void VirtualRobot::Sensor::updatePose ( bool updateChildren = true )

overridevirtual

Compute/Update the transformations of this sensor. Therefore the parent is queried for its pose.

Reimplemented from VirtualRobot::SceneObject.

◆ updatePose() [2/2]

void VirtualRobot::Sensor::updatePose	(	const Eigen::Matrix4f &	parentPose,
		bool	updateChildren = `true`
	)

overrideprotectedvirtual

Update the pose according to parent pose

Reimplemented from VirtualRobot::SceneObject.

Friends And Related Function Documentation

◆ Robot

friend class Robot

friend

◆ RobotIO

friend class RobotIO

friend

Field Documentation

◆ parentNode

GraspableSensorizedObjectWeakPtr VirtualRobot::Sensor::parentNode

protected

◆ rnTransformation

Eigen::Matrix4f VirtualRobot::Sensor::rnTransformation

protected

Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ Sensor() [1/2]

◆ ~Sensor()

◆ Sensor() [2/2]

Member Function Documentation

◆ _clone() [1/2]

◆ _clone() [2/2]

◆ clone() [1/2]

◆ clone() [2/2]

◆ getParentNode()

◆ getParentNodeToSensorTransformation()

◆ getRobotNode()

◆ initialize()

◆ print()

◆ setGlobalPose()

◆ setRobotNodeToSensorTransformation()

◆ toXML()

◆ updatePose() [1/2]

◆ updatePose() [2/2]

Friends And Related Function Documentation

◆ Robot

◆ RobotIO

Field Documentation

◆ parentNode

◆ rnTransformation