bitrl::sensors::backends::SensorBackendBase Class Reference

Base class for modelling sensors with different implementations. More...

#include <sensor_backend_base.h>

Inheritance diagram for bitrl::sensors::backends::SensorBackendBase:

Public Member Functions
virtual	~SensorBackendBase ()=default
	Destructor.
real_t	sampling_period () const noexcept
	Returns the sampling period of the sensor.
void	set_sampling_period (real_t period)
	Set the sampling period of the backend.
virtual std::vector< real_t >	read_values ()=0
	Read the sensor value.
virtual std::string	sensor_units () const
virtual void	load_from_json (const std::string &filename)=0
	Load robot and simulation parameters from a JSON file.
uint_t	n_read_values () const noexcept
std::string	backend_type_str () const noexcept

Protected Member Functions
	SensorBackendBase (const std::string &backend_type)
	Constructor.

Detailed Description

Base class for modelling sensors with different implementations.

Constructor & Destructor Documentation

~SensorBackendBase()

virtual bitrl::sensors::backends::SensorBackendBase::~SensorBackendBase ( )

virtualdefault

Destructor.

SensorBackendBase()

bitrl::sensors::backends::SensorBackendBase::SensorBackendBase ( const std::string &  backend_type )

inlineprotected

Constructor.

Parameters

backend_type

Member Function Documentation

backend_type_str()

std::string bitrl::sensors::backends::SensorBackendBase::backend_type_str ( ) const

inlinenoexcept

@bief Return a string that specifies the type of the backend

Returns

load_from_json()

virtual void bitrl::sensors::backends::SensorBackendBase::load_from_json ( const std::string &  filename )

pure virtual

Load robot and simulation parameters from a JSON file.

This function initializes the robot and its associated Chrono simulation objects based on the contents of the provided JSON configuration file.

Typical parameters may include:

• Physical dimensions
• Mass and inertia properties
• Wheel configuration
• Simulation settings

Parameters

filename

Path to the JSON configuration file.

Exceptions

std::runtime_error

If the file cannot be read or parsed.

n_read_values()

uint_t bitrl::sensors::backends::SensorBackendBase::n_read_values ( ) const

inlinenoexcept

Returns

The number of values the implementation returns

read_values()

virtual std::vector< real_t > bitrl::sensors::backends::SensorBackendBase::read_values ( )

pure virtual

Read the sensor value.

Returns

sampling_period()

real_t bitrl::sensors::backends::SensorBackendBase::sampling_period ( ) const

inlinenoexcept

Returns the sampling period of the sensor.

Returns

sensor_units()

virtual std::string bitrl::sensors::backends::SensorBackendBase::sensor_units ( ) const

inlinevirtual

Returns

An instance of std::string representing the units the sensor readings are assumed in

Reimplemented in bitrl::sensors::backends::RangeSensorBackendBase.

set_sampling_period()

void bitrl::sensors::backends::SensorBackendBase::set_sampling_period ( real_t  period )

inline

Set the sampling period of the backend.

Parameters

period

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

• libs/bitrl/src/bitrl/sensors/backends/sensor_backend_base.h