raisim::SensorSet

class · #include <raisim/sensors/SensorSet.hpp>

A named group of sensors that belongs to one body of an ArticulatedSystem (e.g., all sensors of one physical device). The set owns its sensors; sensors added to it inherit the set's model and serial number.

Public types

SensorSetDataType

using SensorSetDataType = std::vector<Sensor *>

Non-owning view of the sensors, returned by getSensors().

SensorStorageType

using SensorStorageType = std::vector<std::unique_ptr<Sensor>>

Owning storage of the sensors.

Constructors & destructor

SensorSet

SensorSet(std::string nameI, std::string modelI, std::string serialNumberI)

Parameters

Parameter	Description
nameI (in)	Sensor set name.
modelI (in)	Sensor model identifier, copied to every sensor added later.
serialNumberI (in)	Serial number, copied to every sensor added later.

SensorSet(const SensorSet &) = delete

SensorSet(SensorSet &&other) noexcept = default

Move constructor. Sensor pointers stay valid because the sensors are heap-allocated.

Parameters

Parameter	Description
other (in, out)	Set to move from.

~SensorSet

~SensorSet() = default

Public member functions

operator=

SensorSet &operator=(const SensorSet &) = delete

SensorSet &operator=(SensorSet &&other) noexcept = default

Move assignment.

Parameters

Parameter	Description
other (in, out)	Set to move from.

Returns *this

getSensors

const SensorSetDataType &getSensors() const

Returns Read-only non-owning view of the sensors in this set.

addSensor

void addSensor(std::unique_ptr<Sensor> sensor)

Transfer ownership of a sensor to this set and copy the set's model and serial number into it.

Parameters

Parameter	Description
sensor (in)	Sensor to own. Null sensors and duplicate names are rejected with a fatal error.

getSensor

template <class T>
T *getSensor(const std::string &nameIn)

Find a sensor by name and return it as its concrete type.

Template parameters

Parameter	Description
T	Concrete sensor class (e.g. DepthCamera, InertialMeasurementUnit).

Parameters

Parameter	Description
nameIn (in)	The sensor name (getName(), without the set prefix).

Returns The sensor, or nullptr if no sensor has this name or its type is not T::getType().

getSensorRawPtr

Sensor *getSensorRawPtr(const std::string &nameIn)

This function returns the sensor as its parent class pointer.

Parameters

Parameter	Description
nameIn (in)	the name of the sensor

Returns the sensor as a base class (Sensor*) pointer, or nullptr if not found

getModel

const std::string &getModel() const

Returns Sensor model identifier from the sensor set configuration.

getSerialNumber

const std::string &getSerialNumber() const

Returns Sensor serial number from the sensor set configuration.

getName

const std::string &getName() const

Returns Sensor set name.