bitrl::sensors::SensorBase Class Reference

Class for modelling sensors. The interface follows closely the interface exposed by Webots see: https://cyberbotics.com/doc/guide/sensors In this token a Sensor is a Device and has: More...

#include <sensor_base.h>

Inheritance diagram for bitrl::sensors::SensorBase:

Public Member Functions
virtual	~SensorBase ()=default
	Destructor.
virtual void	init ()=0
	Initialize the sensor. Set the is is_enabled_ flag to true. and performs any other initializations required by the sensor.
virtual const std::vector< real_t > &	read_values ()=0
virtual std::string	backend_type_str () const =0
virtual std::string	sensor_units () const =0
bool	is_enabled () const noexcept
	Returns true if the sensor is enabled.
void	enable () noexcept
	Set the is_enabled_ flag to true.
void	disable () noexcept
	Disable the sensor.
const std::vector< real_t > &	last_read_values () const noexcept
std::string	sensor_name () const noexcept
void	set_sensor_name (const std::string &sensor_name) noexcept
	Set the sensor name.
std::string	sensor_type () const noexcept

Protected Member Functions
	SensorBase (const std::string &sensor_type, const std::string &sensor_name=bitrl::consts::INVALID_STR)

Protected Attributes
std::vector< real_t >	values_
	The values last read by the sensor.

Detailed Description

Class for modelling sensors. The interface follows closely the interface exposed by Webots see: https://cyberbotics.com/doc/guide/sensors In this token a Sensor is a Device and has:

• sampling period
• enabled/disabled
• Last value
• Sensor units Implementations can utilize noise and resolution.

Constructor & Destructor Documentation

~SensorBase()

virtual bitrl::sensors::SensorBase::~SensorBase ( )

virtualdefault

Destructor.

SensorBase()

bitrl::sensors::SensorBase::SensorBase ( const std::string &  sensor_type, const std::string &  sensor_name = bitrl::consts::INVALID_STR  )

inlineexplicitprotected

Parameters

sensor_type

The type of the sensor

Member Function Documentation

backend_type_str()

std::string bitrl::sensors::SensorBase::backend_type_str ( ) const

pure virtual

Returns

An instance of std::string of the backend type. If the implementation does not use a specific backend returns bitrl::consts::INVALID_STR

Implemented in bitrl::sensors::UltrasonicSensor.

disable()

void bitrl::sensors::SensorBase::disable ( )

inlinenoexcept

Disable the sensor.

enable()

void bitrl::sensors::SensorBase::enable ( )

inlinenoexcept

Set the is_enabled_ flag to true.

init()

virtual void bitrl::sensors::SensorBase::init ( )

pure virtual

Initialize the sensor. Set the is is_enabled_ flag to true. and performs any other initializations required by the sensor.

Implemented in bitrl::sensors::UltrasonicSensor.

is_enabled()

bool bitrl::sensors::SensorBase::is_enabled ( ) const

inlinenoexcept

Returns true if the sensor is enabled.

Returns

last_read_values()

const std::vector< real_t > & bitrl::sensors::SensorBase::last_read_values ( ) const

inlinenoexcept

Returns

Read reference to the last values read by the sensor

read_values()

virtual const std::vector< real_t > & bitrl::sensors::SensorBase::read_values ( )

pure virtual

Returns

Reads the sensor values and updates the values held internally

Implemented in bitrl::sensors::UltrasonicSensor.

sensor_name()

std::string bitrl::sensors::SensorBase::sensor_name ( ) const

inlinenoexcept

Returns

An instance of std::string with the name of the sensor

sensor_type()

std::string bitrl::sensors::SensorBase::sensor_type ( ) const

inlinenoexcept

Returns

An instance of std::string with the type of the sensor

sensor_units()

std::string bitrl::sensors::SensorBase::sensor_units ( ) const

pure virtual

Returns

An instance of std::string indicating the units the sensor is using. If units have not been established this returns bitrl::consts::INVALID_STR

Implemented in bitrl::sensors::UltrasonicSensor.

set_sensor_name()

void bitrl::sensors::SensorBase::set_sensor_name ( const std::string &  sensor_name )

inlinenoexcept

Set the sensor name.

Parameters

sensor_name

The sensor name to set

Member Data Documentation

values_

std::vector<real_t> bitrl::sensors::SensorBase::values_

protected

The values last read by the sensor.

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

• libs/bitrl/src/bitrl/sensors/sensor_base.h
• libs/bitrl/src/bitrl/sensors/sensor_base.cpp