Class env_sensor

Inheritance Relationships

Base Types

  • public rer::client< env_sensor >

  • public rpdecorator::decorator< impl_handle >

Class Documentation

class env_sensor : public rer::client<env_sensor>, public rpdecorator::decorator<impl_handle>

Environment sensor wrapper to provide a uniform interface to sensing (roughly) “what is the environment/spatial features of the environment/etc

near me” regardless of robot and platform. Provides some additional higher level functionality beyond raw sensor readings too.

Public Functions

env_sensor(env_sensor&&) = default
env_sensor(env_sensor&) = delete
inline env_sensor(impl_handle &&impl, const config::env_sensor_config *const config)
inline void config_update(const chsensors::config::env_sensor_config *const config)
inline bool detect(const std::string &name)

Detect if a certain condition is met by examining sensor readings.

Parameters:

name – The name of the configured detection to check.

Returns:

TRUE iff the condition was detected.

inline void disable(const std::string &name)
inline void enable(const std::string &name)
env_sensor &operator=(env_sensor&&) = default
env_sensor &operator=(env_sensor&) = delete
RCPPSW_WRAP_DECLDEF(disable)
RCPPSW_WRAP_DECLDEF(reset)

Public Static Attributes

static const std::string kBlockTarget = "block"
static const std::string kNestTarget = "nest"

Protected Functions

inline const chsensors::config::env_sensor_config *config(void) const