mbsimcontrol 4.0.0 MBSim Control Module

frame_sensors.h
1 /* Copyright (C) 2004-2009 MBSim Development Team
2 *
3 * This library is free software; you can redistribute it and/or
4 * modify it under the terms of the GNU Lesser General Public
5 * License as published by the Free Software Foundation; either
6 * version 2.1 of the License, or (at your option) any later version.
7 *
8 * This library is distributed in the hope that it will be useful,
9 * but WITHOUT ANY WARRANTY; without even the implied warranty of
10 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
11 * Lesser General Public License for more details.
12 *
13 * You should have received a copy of the GNU Lesser General Public
14 * License along with this library; if not, write to the Free Software
15 * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
16 *
17 * Contact: markus.ms.schneider@gmail.com
18 */
19
20 #ifndef _FRAME_SENSORS_H_
21 #define _FRAME_SENSORS_H_
22
23 #include "mbsimControl/sensor.h"
24
25 namespace MBSim {
26 class Frame;
27 }
28
29 namespace MBSimControl {
30
35 class FrameSensor : public Sensor {
36 public:
37 FrameSensor(const std::string &name) : Sensor(name), frame(nullptr) { }
38 void initializeUsingXML(xercesc::DOMElement *element) override;
39 void init(InitStage stage, const MBSim::InitConfigSet &config) override;
40 void setFrame(MBSim::Frame * frame_) { frame = frame_; }
41 void setOutputFrame(MBSim::Frame *outputFrame_) { outputFrame = outputFrame_; }
42 int getSignalSize() const override { return 3; }
43 protected:
44 MBSim::Frame *frame;
45 std::string saved_frame;
46 MBSim::Frame *outputFrame { nullptr };
47 std::string saved_outputFrame;
48 };
49
54 class PositionSensor : public FrameSensor {
55 public:
56 PositionSensor(const std::string &name="") : FrameSensor(name) { }
57 void updateSignal() override;
58 };
59
64 class OrientationSensor : public FrameSensor {
65 public:
66 OrientationSensor(const std::string &name="") : FrameSensor(name) { }
67 void updateSignal() override;
68 int getSignalSize() const override { return 9; }
69 };
70
75 class VelocitySensor : public FrameSensor {
76 public:
77 VelocitySensor(const std::string &name="") : FrameSensor(name) { }
78 void updateSignal() override;
79 };
80
85 class AngularVelocitySensor : public FrameSensor {
86 public:
87 AngularVelocitySensor(const std::string &name="") : FrameSensor(name) { }
88 void updateSignal() override;
89 };
90
95 class AccelerationSensor : public FrameSensor {
96 public:
97 AccelerationSensor(const std::string &name="") : FrameSensor(name) { }
98 void updateSignal() override;
99 };
100
105 class AngularAccelerationSensor : public FrameSensor {
106 public:
107 AngularAccelerationSensor(const std::string &name="") : FrameSensor(name) { }
108 void updateSignal() override;
109 };
110
111 }
112
113 #endif /* _FRAME_SENSORS_H_ */
MBSimControl::AccelerationSensor
AccelerationSensor.
Definition: frame_sensors.h:95
MBSimControl::AngularVelocitySensor
AngularVelocitySensor.
Definition: frame_sensors.h:85
MBSimControl::AngularAccelerationSensor
AngularAccelerationSensor.
Definition: frame_sensors.h:105
MBSimControl::OrientationSensor
OrientationSensor.
Definition: frame_sensors.h:64
MBSim::Element::InitStage
InitStage
MBSimControl::FrameSensor
FrameSensor.
Definition: frame_sensors.h:35
MBSimControl::Sensor
Sensor.
Definition: sensor.h:31
MBSimControl::VelocitySensor
VelocitySensor.
Definition: frame_sensors.h:75
MBSim::Element::name
std::string name
MBSim::Frame
MBSimControl::PositionSensor
PositionSensor.
Definition: frame_sensors.h:54