Drake
 All Classes Files Functions Variables
RigidBodyDepthSensor Class Reference

Uses collision detection framework to simulate a depth camera rangefinder. More...

Inheritance diagram for RigidBodyDepthSensor:
Collaboration diagram for RigidBodyDepthSensor:

Public Member Functions

function RigidBodyDepthSensor (sensor_name, frame_id, min_pitch, max_pitch, num_pixel_rows, min_yaw, max_yaw, num_pixel_cols, range)
 
function enableLCMGL (obj)
 
function output (obj, manip, t, x, u)
 Computes the output of the sensor. More...
 
function constructFrame (obj, manip)
 
function isDirectFeedthrough (obj)
 
- Public Member Functions inherited from RigidBodySensor
function compile (obj, manip)
 
function updateBodyIndices (obj, map_from_old_to_new)
 intentionally do nothing More...
 
function updateBodyCoordinates (obj, body_ind, T_old_body_to_new_body)
 
- Public Member Functions inherited from RigidBodyElement
function bindParams (body, model, pval)
 Bind parameters from msspolys to doubles. More...
 

Public Attributes

Property frame_id
 
Property min_pitch
 
Property max_pitch
 
Property min_yaw
 
Property max_yaw
 
Property num_pixel_rows
 
Property num_pixel_cols
 
Property range
 
Property body_pts
 
Property lcmgl
 
- Public Attributes inherited from RigidBodySensor
Property name
 
Property coordinate_frame
 
- Public Attributes inherited from RigidBodyElement
Property param_bindings
 structure containing msspoly parameterized representations of some properties More...
 

Detailed Description

Uses collision detection framework to simulate a depth camera rangefinder.

Constructor & Destructor Documentation

function RigidBodyDepthSensor ( sensor_name  ,
frame_id  ,
min_pitch  ,
max_pitch  ,
num_pixel_rows  ,
min_yaw  ,
max_yaw  ,
num_pixel_cols  ,
range   
)
Parameters
namename of this camera (as a string)
frame_idID of the RigidBodyFrame
min_pitchminimum pitch angle (in radians) that the sensor reads
max_pitchmaximum pitch angle (in radians) that the sensor reads
num_pixel_rowsnumber of pixels that the sensor reads in the pitch axis
min_yawminimum yaw angle (in radians) that the sensor reads
max_yawmaximum yaw angle (in radians) that the sensor reads
num_pixel_colsnumber of pixels that the sensor reads in the yaw axis
rangemaximum range of the sensor (in meters). can be inf.
Return values
obj

Member Function Documentation

function constructFrame ( obj  ,
manip   
)
virtual
Return values
fr

Reimplemented from RigidBodySensor.

function enableLCMGL ( obj  )
Return values
obj
function isDirectFeedthrough ( obj  )
virtual
Return values
tf

Reimplemented from RigidBodySensor.

function output ( obj  ,
manip  ,
,
,
 
)
virtual

Computes the output of the sensor.

Parameters
manipRigidBodyManipulator with collision geometry
ttime (unused)
xsystem state
ucontrol input (unused)
Return values
distancearray of distances returned by the sensor, size will equal 3 x obj.num_pixel_rows x obj.num_pixel_cols.

Reimplemented from RigidBodySensor.

Member Data Documentation

Property body_pts
Property frame_id
Property lcmgl
Property max_pitch
Property max_yaw
Property min_pitch
Property min_yaw
Property num_pixel_cols
Property num_pixel_rows
Property range

The documentation for this class was generated from the following file: