1 #ifndef CONTROL_OTHER_SENSORS_H 2 #define CONTROL_OTHER_SENSORS_H 22 virtual const char* Type()
const override {
return "TransformedSensor"; }
25 virtual void Advance(
double dt)
override;
26 virtual void Reset()
override;
32 virtual map<string,string>
Settings()
const override;
33 virtual bool GetSetting(
const string& name,
string& str)
const override;
34 virtual bool SetSetting(
const string& name,
const string& str)
override;
35 virtual void DrawGL(
const RobotModel& robot,
const vector<double>& measurements)
override;
38 shared_ptr<SensorBase> sensor;
41 vector<double> minimum,maximum;
43 vector<double> measurements;
58 virtual const char* Type()
const override {
return "CorruptedSensor"; }
61 virtual void Advance(
double dt)
override;
62 virtual void Reset()
override;
68 virtual map<string,string>
Settings()
const override;
69 virtual bool GetSetting(
const string& name,
string& str)
const override;
70 virtual bool SetSetting(
const string& name,
const string& str)
override;
71 virtual void DrawGL(
const RobotModel& robot,
const vector<double>& measurements)
override;
74 shared_ptr<SensorBase> sensor;
75 vector<double> resolution;
76 vector<double> variance;
78 vector<double> measurements;
92 virtual const char* Type()
const override {
return "FilteredSensor"; }
95 virtual void Advance(
double dt)
override;
96 virtual void Reset()
override;
102 virtual map<string,string>
Settings()
const override;
103 virtual bool GetSetting(
const string& name,
string& str)
const override;
104 virtual bool SetSetting(
const string& name,
const string& str)
override;
105 virtual void DrawGL(
const RobotModel& robot,
const vector<double>& measurements)
override;
107 shared_ptr<SensorBase> sensor;
108 vector<double> measurements;
124 virtual const char* Type()
const override {
return "TimeDelayedSensor"; }
127 virtual void Advance(
double dt)
override;
128 virtual void Reset()
override;
134 virtual map<string,string>
Settings()
const override;
135 virtual bool GetSetting(
const string& name,
string& str)
const override;
136 virtual bool SetSetting(
const string& name,
const string& str)
override;
137 virtual void DrawGL(
const RobotModel& robot,
const vector<double>& measurements)
override;
139 shared_ptr<SensorBase> sensor;
140 deque<vector<double> > measurementsInTransit;
141 deque<double> deliveryTimes;
142 vector<double> arrivedMeasurement;
A physical simulator for a WorldModel.
Definition: Simulator.h:69
An exponentially smoothed filter that acts as a "piggyback" sensor.
Definition: OtherSensors.h:87
A class containing information about an ODE-simulated and controlled robot.
Definition: SimRobotController.h:19
A sensor base class. A SensorBase should allow a Controller to both connect to a simulation as well a...
Definition: Sensor.h:55
The main robot type used in RobotSim.
Definition: Robot.h:83
An time delayed "piggyback" sensor.
Definition: OtherSensors.h:119
Definition: ContactDistance.h:6
A "piggyback" sensor that corrupts readings with quantization error and gaussian noise.
Definition: OtherSensors.h:53
The main world class containing multiple robots, objects, and static geometries (terrains). Lights and other viewport information may also be stored here.
Definition: World.h:24