#include <drake/systems/plants/RigidBodySystem.h>

Inheritance diagram for RigidBodyDepthSensor:

Collaboration diagram for RigidBodyDepthSensor:

Public Member Functions
	RigidBodyDepthSensor (RigidBodySystem const &sys, const std::string &name, const std::shared_ptr< RigidBodyFrame > frame, tinyxml2::XMLElement *node)

	RigidBodyDepthSensor (RigidBodySystem const &sys, const std::string &name, const std::shared_ptr< RigidBodyFrame > frame, std::size_t samples, double min_angle, double max_angle, double range)

	~RigidBodyDepthSensor () override

size_t	getNumOutputs () const override

virtual bool	is_horizontal_scanner () const
	Returns `true` if this sensor scans horizontally. More...

virtual bool	is_vertical_scanner () const
	Returns `true` if this sensor scans vertically. More...

virtual size_t	num_pixel_rows () const
	Returns the number of points in the image vertically (pitch). More...

virtual size_t	num_pixel_cols () const
	Returns the number of points in the image horizontally (yaw). More...

virtual double	min_pitch () const
	Returns minimum pitch of this sensor's FOV in radians. More...

virtual double	max_pitch () const
	Returns maximum pitch of this sensor's FOV in radians. More...

virtual double	min_yaw () const
	Returns the minimum yaw of this sensor's FOV in radians. More...

virtual double	max_yaw () const
	Returns the maximum yaw of this sensor's FOV in radians. More...

virtual double	min_range () const
	Returns the minimum range of this sensor in meters. More...

virtual double	max_range () const
	Returns the maximum range of this sensor in meters. More...

Eigen::VectorXd	output (const double &t, const KinematicsCache< double > &rigid_body_state, const RigidBodySystem::InputVector< double > &u) const override

Public Member Functions inherited from RigidBodySensor
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	RigidBodySensor (const RigidBodySystem &sys, const std::string &name, std::shared_ptr< RigidBodyFrame > frame)
	The constructor. More...

virtual	~RigidBodySensor ()

virtual bool	isDirectFeedthrough () const

const std::string &	get_name () const
	Returns the name of the sensor. More...

const std::string &	get_model_name () const
	Returns the name of the model (i.e., robot) that owns this sensor. More...

const RigidBodyFrame &	get_frame () const
	Returns the frame to which thi sensor is attached. More...

const RigidBodySystem &	get_rigid_body_system () const
	Returns the rigid body system to which this sensor attaches. More...

Detailed Description

RigidBodyDepthSensor.

Uses raycast to simulate a depth image at some evenly spaced pixel rows and columns.

Constructor & Destructor Documentation

RigidBodyDepthSensor	(	RigidBodySystem const &	sys,
		const std::string &	name,
		const std::shared_ptr< RigidBodyFrame >	frame,
		tinyxml2::XMLElement *	node
	)

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RigidBodyDepthSensor	(	RigidBodySystem const &	sys,
		const std::string &	name,
		const std::shared_ptr< RigidBodyFrame >	frame,
		std::size_t	samples,
		double	min_angle,
		double	max_angle,
		double	range
	)

~RigidBodyDepthSensor ( )

inlineoverride

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Member Function Documentation

size_t getNumOutputs ( ) const

overridevirtual

Reimplemented from RigidBodySensor.

bool is_horizontal_scanner ( ) const

virtual

Returns true if this sensor scans horizontally.

bool is_vertical_scanner ( ) const

virtual

Returns true if this sensor scans vertically.

double max_pitch ( ) const

virtual

Returns maximum pitch of this sensor's FOV in radians.

double max_range ( ) const

virtual

Returns the maximum range of this sensor in meters.

double max_yaw ( ) const

virtual

Returns the maximum yaw of this sensor's FOV in radians.

double min_pitch ( ) const

virtual

Returns minimum pitch of this sensor's FOV in radians.

double min_range ( ) const

virtual

Returns the minimum range of this sensor in meters.

double min_yaw ( ) const

virtual

Returns the minimum yaw of this sensor's FOV in radians.

size_t num_pixel_cols ( ) const

virtual

Returns the number of points in the image horizontally (yaw).

size_t num_pixel_rows ( ) const

virtual

Returns the number of points in the image vertically (pitch).

Eigen::VectorXd output	(	const double &	t,
		const KinematicsCache< double > &	rigid_body_state,
		const RigidBodySystem::InputVector< double > &	u
	)		const

overridevirtual

Implements RigidBodySensor.

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The documentation for this class was generated from the following files:

drake/systems/plants/RigidBodySystem.h
drake/systems/plants/RigidBodySystem.cpp

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation