Choreonoid  1.5
BasicSensorSimulationHelper.h
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1 
6 #ifndef CNOID_BODY_BASIC_SENSOR_SIMULATION_HELPER_H
7 #define CNOID_BODY_BASIC_SENSOR_SIMULATION_HELPER_H
8 
9 #include "DeviceList.h"
10 #include "ForceSensor.h"
11 #include "RateGyroSensor.h"
12 #include "AccelerationSensor.h"
13 #include "exportdecl.h"
14 
15 namespace cnoid {
16 
17 class Body;
18 class BasicSensorSimulationHelperImpl;
19 
21 {
22 public:
25 
26  void setOldAccelSensorCalcMode(bool on);
27 
28  void initialize(Body* body, double timeStep, const Vector3& gravityAcceleration);
29 
30  bool isActive() const { return isActive_; }
31  bool hasGyroOrAccelerationSensors() const { return !rateGyroSensors_.empty() || !accelerationSensors_.empty(); }
32 
33  const DeviceList<ForceSensor>& forceSensors() const { return forceSensors_; }
34  const DeviceList<RateGyroSensor>& rateGyroSensors() const { return rateGyroSensors_; }
35  const DeviceList<AccelerationSensor>& accelerationSensors() const { return accelerationSensors_; }
36 
37  void updateGyroAndAccelerationSensors();
38 
39 private:
40  BasicSensorSimulationHelperImpl* impl;
41  bool isActive_;
42  DeviceList<ForceSensor> forceSensors_;
43  DeviceList<RateGyroSensor> rateGyroSensors_;
44  DeviceList<AccelerationSensor> accelerationSensors_;
45 
46  friend class BasicSensorSimulationHelperImpl;
47 };
48 
49 }
50 
51 #endif
const DeviceList< RateGyroSensor > & rateGyroSensors() const
Definition: BasicSensorSimulationHelper.h:34
Definition: Body.h:28
bool hasGyroOrAccelerationSensors() const
Definition: BasicSensorSimulationHelper.h:31
const DeviceList< ForceSensor > & forceSensors() const
Definition: BasicSensorSimulationHelper.h:33
Definition: BasicSensorSimulationHelper.h:20
const DeviceList< AccelerationSensor > & accelerationSensors() const
Definition: BasicSensorSimulationHelper.h:35
Defines the minimum processing for performing pasing file for STL.
Definition: AbstractSceneLoader.h:9
bool isActive() const
Definition: BasicSensorSimulationHelper.h:30
Eigen::Vector3d Vector3
Definition: EigenTypes.h:58
#define CNOID_EXPORT
Definition: Util/exportdecl.h:37
Definition: DeviceList.h:16