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raisin::tcp_viewer::SensorInfo ​

struct · #include <rayrai/TcpRemoteSceneState.hpp>

Metadata for a remote sensor.

Public attributes ​

parentTag ​

cpp
uint32_t parentTag

Visual tag of the articulated system that owns the sensor.

type ​

cpp
raisim::Sensor::Type type

Sensor kind.

name ​

cpp
std::string name

Sensor name.

width ​

cpp
int width

Image width in pixels (RGB/depth only; 0 if the server sent an invalid size).

height ​

cpp
int height

Image height in pixels (RGB/depth only; 0 if the server sent an invalid size).

yawSamples ​

cpp
int yawSamples

Horizontal sample count (spinning lidar only).

pitchSamples ​

cpp
int pitchSamples

Vertical sample count (spinning lidar only).

clipNear ​

cpp
double clipNear

Near clip distance (RGB/depth only).

clipFar ​

cpp
double clipFar

Far clip distance (RGB/depth only).

hFov ​

cpp
double hFov

Horizontal field of view as sent by the server (RGB/depth only).

lens ​

cpp
raisim::CameraLensModel lens

Projection and intrinsics (RGB/depth/segmentation only).

xOffset ​

cpp
int xOffset

Image window offset in pixels, as raisim camera properties xOffset/yOffset (cameras only; 0 unless the server negotiated kProtocolFeatureSensorImageOffset).

yOffset ​

cpp
int yOffset

segmentationType ​

cpp
raisim::SegmentationCamera::SegmentationType segmentationType

Images a segmentation camera fills (segmentation only).

force ​

cpp
glm::vec3 force

torque ​

cpp
glm::vec3 torque

Sensor-frame net wrench [N, Nm].

padWidth ​

cpp
double padWidth

padHeight ​

cpp
double padHeight

padDepth ​

cpp
double padDepth

Tactile sensing volume [m].

padColumns ​

cpp
int padColumns

padRows ​

cpp
int padRows

Tactile grid dimensions.

normalForce ​

cpp
float normalForce

Compressive pad load [N].

centerOfPressure ​

cpp
glm::vec2 centerOfPressure

Pad-frame Y/Z center [m], valid under positive load.

taxelForces ​

cpp
std::vector<glm::vec3> taxelForces

Row-major sensor-frame force vectors [N].

taxelSlip ​

cpp
std::vector<glm::vec2> taxelSlip

Row-major Y/Z relative surface velocities [m/s].

source ​

cpp
raisim::Sensor::MeasurementSource source

Who produces measurements; the viewer renders only MANUAL RGB/depth sensors.

viewerUpdateRequested ​

cpp
bool viewerUpdateRequested

True when the server asked the viewer to render this sensor in the latest update.

position ​

cpp
glm::vec3 position

World-frame sensor position.

orientation ​

cpp
glm::vec4 orientation

Sensor orientation in GLM xyzw component layout.

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