6 #ifndef CNOID_BODY_RANGE_SENSOR_H 7 #define CNOID_BODY_RANGE_SENSOR_H 10 #include <boost/shared_ptr.hpp> 22 virtual const char* typeName();
24 virtual void copyStateFrom(
const DeviceState& other);
26 virtual Device* clone()
const;
27 virtual void forEachActualType(boost::function<
bool(
const std::type_info& type)> func);
28 virtual void clearState();
29 virtual int stateSize()
const;
30 virtual const double* readState(
const double* buf);
31 virtual double* writeState(
double* out_buf)
const;
33 bool on()
const {
return on_; }
34 void on(
bool on) { on_ =
on; }
37 void setYawRange(
double angle);
38 int yawResolution()
const {
return (yawRange_ == 0.0) ? 1 : yawResolution_; }
39 void setYawResolution(
int n);
40 double yawStep()
const;
43 void setPitchRange(
double angle);
44 int pitchResolution()
const {
return (pitchRange_ == 0.0) ? 1 : pitchResolution_; }
45 void setPitchResolution(
double n);
46 double pitchStep()
const;
49 void setMaxDistance(
double d);
51 void setMinDistance(
double d);
54 void setFrameRate(
double r);
64 const RangeData&
rangeData()
const {
return *rangeData_; }
66 RangeData& rangeData();
67 RangeData& newRangeData();
76 void setRangeData(boost::shared_ptr<RangeData>& rangeData);
81 double delay()
const {
return delay_; }
86 bool isRangeDataStateClonable_;
95 boost::shared_ptr<RangeData> rangeData_;
98 void copyRangeSensorStateFrom(
const RangeSensor& other);
void on(bool on)
Definition: RangeSensor.h:34
double minDistance() const
Definition: RangeSensor.h:50
ref_ptr< RangeSensor > RangeSensorPtr
Definition: RangeSensor.h:101
bool isRangeDataStateClonable() const
Definition: RangeSensor.h:59
const RangeData & constRangeData() const
Definition: RangeSensor.h:65
void setRangeDataStateClonable(bool on)
Definition: RangeSensor.h:58
double maxDistance() const
Definition: RangeSensor.h:48
double yawRange() const
Definition: RangeSensor.h:36
bool on() const
Definition: RangeSensor.h:33
double frameRate() const
Definition: RangeSensor.h:53
Definition: Referenced.h:128
double delay() const
Definition: RangeSensor.h:81
boost::shared_ptr< RangeData > sharedRangeData() const
Definition: RangeSensor.h:69
std::vector< double > RangeData
Definition: RangeSensor.h:56
double pitchRange() const
Definition: RangeSensor.h:42
int yawResolution() const
Definition: RangeSensor.h:38
Defines the minimum processing for performing pasing file for STL.
Definition: AbstractSceneLoader.h:9
int pitchResolution() const
Definition: RangeSensor.h:44
void setDelay(double time)
Definition: RangeSensor.h:82
#define CNOID_EXPORT
Definition: Util/exportdecl.h:37
Definition: RangeSensor.h:16
const RangeData & rangeData() const
Definition: RangeSensor.h:64