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CollisionPercept Class Reference

Contains detected collisions for each joint. More...

#include <CollisionPercept.h>

List of all members.

Public Member Functions

 CollisionPercept ()
 Constructor.

void reset ()
 Reset all states.

 ~CollisionPercept ()
 Destructor.

bool getCollisionFrontLeft () const
 Did collision occur at front left leg.

bool getCollisionFrontRight () const
 Did collision occur at front right leg.

bool getCollisionHindLeft () const
 Did collision occur at hind left leg.

bool getCollisionHindRight () const
 Did collision occur at hind left leg.

bool getCollisionHead () const
 Did collision occur at head.

bool getCollisionAggregate () const
 Did collision occur at any body part.

double getOdometryDisturbance () const
 Quantitative Value for occurred collision.

void setFrameNumber (unsigned long frameNumber)
 sets frame number


Public Attributes

double state [JointData::numOfJoint]
unsigned long frameNumber
 the last perceived frame

Detailed Description

Contains detected collisions for each joint.

Definition at line 19 of file CollisionPercept.h.

Constructor & Destructor Documentation

CollisionPercept::CollisionPercept (   ) 
 

Constructor.

Definition at line 9 of file CollisionPercept.cpp.

CollisionPercept::~CollisionPercept (   ) 
 

Destructor.

Definition at line 26 of file CollisionPercept.cpp.

Member Function Documentation

void CollisionPercept::reset (   ) 
 

Reset all states.

Definition at line 17 of file CollisionPercept.cpp.

Referenced by GT2005CollisionDetector::execute().

bool CollisionPercept::getCollisionFrontLeft (   )  const
 

Did collision occur at front left leg.

Definition at line 31 of file CollisionPercept.cpp.

Referenced by GT2005RobotStateDetector::calculateCollisionState(), and getCollisionAggregate().

bool CollisionPercept::getCollisionFrontRight (   )  const
 

Did collision occur at front right leg.

Definition at line 39 of file CollisionPercept.cpp.

Referenced by GT2005RobotStateDetector::calculateCollisionState(), and getCollisionAggregate().

bool CollisionPercept::getCollisionHindLeft (   )  const
 

Did collision occur at hind left leg.

Definition at line 47 of file CollisionPercept.cpp.

Referenced by GT2005RobotStateDetector::calculateCollisionState(), and getCollisionAggregate().

bool CollisionPercept::getCollisionHindRight (   )  const
 

Did collision occur at hind left leg.

Definition at line 56 of file CollisionPercept.cpp.

Referenced by GT2005RobotStateDetector::calculateCollisionState(), and getCollisionAggregate().

bool CollisionPercept::getCollisionHead (   )  const
 

Did collision occur at head.

Definition at line 66 of file CollisionPercept.cpp.

Referenced by GT2005RobotStateDetector::calculateCollisionState().

bool CollisionPercept::getCollisionAggregate (   )  const
 

Did collision occur at any body part.

Definition at line 75 of file CollisionPercept.cpp.

References getCollisionFrontLeft(), getCollisionFrontRight(), getCollisionHindLeft(), and getCollisionHindRight().

Referenced by GT2005RobotStateDetector::calculateCollisionState(), and GT2005SelfLocator::resample().

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double CollisionPercept::getOdometryDisturbance (   )  const
 

Quantitative Value for occurred collision.

Definition at line 85 of file CollisionPercept.cpp.

References max.

Referenced by GT2005RobotStateDetector::calculateCollisionState().

void CollisionPercept::setFrameNumber (  unsigned long  frameNumber  )  [inline]
 

sets frame number

Definition at line 58 of file CollisionPercept.h.

Referenced by GT2005CollisionDetector::execute().

Member Data Documentation

double CollisionPercept::state[JointData::numOfJoint]
 

Definition at line 31 of file CollisionPercept.h.

Referenced by GT2005CollisionDetector::execute(), operator<<(), and operator>>().

unsigned long CollisionPercept::frameNumber
 

the last perceived frame

Definition at line 55 of file CollisionPercept.h.

Referenced by operator<<(), operator>>(), GT2005RobotStateDetector::setCollisionOnLeftSide(), and GT2005RobotStateDetector::setCollisionOnRightSide().

The documentation for this class was generated from the following files:
Generated on Mon Mar 20 22:11:41 2006 for GT2005 by doxygen 1.3.6