An abstract parent class of all sensors. More...

Inheritance diagram for RigidBodySensor:

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Public Member Functions
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

virtual size_t	getNumOutputs () const

virtual Eigen::VectorXd	output (const double &t, const KinematicsCache< double > &rigid_body_state, const RigidBodySystem::InputVector< double > &u) const =0

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

An abstract parent class of all sensors.

This is an abstract top-level class of all rigid body sensors in Drake.

Constructor & Destructor Documentation

EIGEN_MAKE_ALIGNED_OPERATOR_NEW RigidBodySensor	(	const RigidBodySystem &	sys,
		const std::string &	name,
		std::shared_ptr< RigidBodyFrame >	frame
	)

inline

The constructor.

Parameters

[in]	sys	The rigid body system to which the sensor is attached.
[in]	name	The name of the sensor.
[in]	frame	The frame within the rigid body system's rigid body tree to which the sensor is attached.

virtual ~RigidBodySensor ( )

inlinevirtual

const RigidBodyFrame & get_frame ( ) const

Returns the frame to which thi sensor is attached.

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const std::string & get_model_name ( ) const

Returns the name of the model (i.e., robot) that owns this sensor.

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const std::string& get_name ( ) const

inline

Returns the name of the sensor.

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const RigidBodySystem & get_rigid_body_system ( ) const

Returns the rigid body system to which this sensor attaches.

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virtual size_t getNumOutputs ( ) const

inlinevirtual

virtual bool isDirectFeedthrough ( ) const

inlinevirtual

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

pure virtual

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