Generic sensor abstraction. More...

#include <GenericSensor.h>

Inheritance diagram for XBot::GenericSensor:

Collaboration diagram for XBot::GenericSensor:

Public Types
typedef std::shared_ptr< GenericSensor >	Ptr

typedef std::shared_ptr< const GenericSensor >	ConstPtr

Public Member Functions
	GenericSensor ()
	Default constructor. More...

	GenericSensor (urdf::LinkConstSharedPtr sensor_link, int sensor_id)
	Constructor with the sensor parent link. More...

const std::string &	getParentLinkName () const
	Getter for the sensor parent link name. More...

const std::string &	getParentJointName () const
	Getter for the sensor parent joint name. More...

const std::string &	getSensorName () const
	Getter for the sensor name. More...

const int	getSensorId () const
	Getter for the sensor id. More...

const Eigen::Affine3d &	getSensorPose () const
	Getter for the sensor pose w.r.t. More...

double	getTimestamp () const
	Getter for the timestamp of the last sensor reading. More...

void	setTimestamp (double timestamp)
	Setter for the timestamp of the sensor reading. More...

Detailed Description

Generic sensor abstraction.

Member Typedef Documentation

◆ ConstPtr

typedef std::shared_ptr<const GenericSensor> XBot::GenericSensor::ConstPtr

◆ Ptr

typedef std::shared_ptr<GenericSensor> XBot::GenericSensor::Ptr

Constructor & Destructor Documentation

◆ GenericSensor() [1/2]

XBot::GenericSensor::GenericSensor ( )

Default constructor.

◆ GenericSensor() [2/2]

XBot::GenericSensor::GenericSensor	(	urdf::LinkConstSharedPtr	sensor_link,
		int	sensor_id
	)

Constructor with the sensor parent link.

Parameters

sensor_link	the sensor parent link
sensor_id	the sensor id

Member Function Documentation

◆ getParentJointName()

const std::string & XBot::GenericSensor::getParentJointName ( ) const

Getter for the sensor parent joint name.

Returns: the parent joint name

◆ getParentLinkName()

const std::string & XBot::GenericSensor::getParentLinkName ( ) const

Getter for the sensor parent link name.

Returns: the parent link name

◆ getSensorId()

const int XBot::GenericSensor::getSensorId ( ) const

Getter for the sensor id.

Returns: the sensor id

◆ getSensorName()

const std::string & XBot::GenericSensor::getSensorName ( ) const

Getter for the sensor name.

Returns: the sensor name

◆ getSensorPose()

const Eigen::Affine3d & XBot::GenericSensor::getSensorPose ( ) const

Getter for the sensor pose w.r.t.

the parent link

Returns: the sensor pose w.r.t. the parent link

◆ getTimestamp()

double XBot::GenericSensor::getTimestamp ( ) const

Getter for the timestamp of the last sensor reading.

Returns: the timestamp of the last sensor reading

◆ setTimestamp()

void XBot::GenericSensor::setTimestamp ( double timestamp )

Setter for the timestamp of the sensor reading.