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alnaosim.h
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1
6 #ifndef ALNAOSIM_H
7 #define ALNAOSIM_H
8 #include <qi/macro.hpp>
9
10 #ifdef alnaosim_EXPORTS
11 # define ALNAOSIM_API QI_EXPORT_API
12 #elif defined(alnaosim_IMPORTS)
13 # define ALNAOSIM_API QI_IMPORT_API
14 #else
15 # define ALNAOSIM_API
16 #endif
17
18 #include <string>
19 #include <vector>
20 #include "alnaosim_camera_definitions.h"
21
22 namespace Sim
23 {
24
25 class AngleActuator;
26 class AngleSensor;
27 class AngleSpeedActuator;
28 class AngleSpeedSensor;
29 class ArrayDepthSensor;
30 class BaseCamera;
31 class BumperSensor;
32 class TactileSensor;
33 class CameraDepthSensor;
34 class CameraSensor;
35 class CameraDepthSensor;
36 class CoupledActuator;
37 class CoupledSensor;
38 class FSRSensor;
39 class InertialSensor;
40 class SonarSensor;
41 class Model;
42 class TorqueActuator;
43 class TorqueSensor;
44 class WheelTorqueActuator;
45 class WheelVelocityActuator;
46 class WheelVelocitySensor;
47 class LEDActuator;
48 class SingleDepthSensor;
49
50 typedef SingleDepthSensor DepthInfraredSensor;
51
61 class ALNAOSIM_API HALInterface
62 {
63 public:
65 HALInterface(const Model* model, int NAOqiId = 9559);
67 ~HALInterface();
68
74 float fetchAngleActuatorValue(const AngleActuator* angleActuator);
80 float fetchCoupledActuatorValue(const CoupledActuator* coupledActuator);
86 float fetchTorqueActuatorValue(const TorqueActuator* torqueActuator);
92 float fetchAngleSpeedActuatorValue(
93 const AngleSpeedActuator* angleSpeedActuator);
99 float fetchWheelTorqueActuatorValue(
100 const WheelTorqueActuator* wheelTorqueActuator);
106 float fetchWheelVelocityActuatorValue(
107 const WheelVelocityActuator* wheelVelocityActuator);
112 float fetchLEDActuatorValue(const LEDActuator* ledActuator);
113
119 float fetchAngleActuatorStiffness(const AngleActuator* angleActuator);
125 float fetchCoupledActuatorStiffness(const CoupledActuator* coupledActuator);
131 float fetchTorqueActuatorStiffness(const TorqueActuator* torqueActuator);
137 float fetchAngleSpeedActuatorStiffness(
138 const AngleSpeedActuator* angleSpeedActuator);
144 float fetchWheelTorqueActuatorStiffness(
145 const WheelTorqueActuator* wheelTorqueActuator);
151 float fetchWheelVelocityActuatorStiffness(
152 const WheelVelocityActuator* wheelVelocityActuator);
153
155 bool sendAngleSensorValue(
156 const AngleSensor* angleSensor, float value);
159 bool sendCoupledSensorValue(
160 const CoupledSensor* coupledSensor, float value);
162 bool sendTorqueSensorValue(
163 const TorqueSensor* torqueSensor, float value);
165 bool sendAngleSpeedSensorValue(
166 const AngleSpeedSensor* angleSpeedSensor, float value);
169 bool sendWheelVelocitySensorValue(
170 const WheelVelocitySensor* wheelVelocitySensor, float value);
171
177 bool sendCameraSensorValue(
178 const CameraSensor* cameraSensor, const unsigned char* img);
182 bool sendCameraSensorValue(
183 const CameraSensor* cameraSensor,
184 const unsigned char* img,
185 CameraResolution camResolution,
186 CameraColorSpace camColorSpace);
187
195 bool sendCameraDepthSensorValue(
196 const CameraDepthSensor* cameraDepthSensor,
197 const float* buffer);
202 bool sendCameraDepthSensorValue(
203 const CameraDepthSensor* cameraDepthSensor,
204 const float* buffer,
205 CameraResolution camResolution,
206 CameraColorSpace camColorSpace);
207
209 bool sendFSRSensorValue(
210 const FSRSensor* fsrSensor, float value);
212 bool sendBumperSensorValue(
213 const BumperSensor* bumperSensor, float value);
216 bool sendTactileSensorValue(
217 const TactileSensor* tactileSensor, float value);
221 bool sendDepthInfraredSensorValue(
222 const DepthInfraredSensor* depthInfraredSensor, float value);
225 bool sendSingleDepthSensorValue(
226 const SingleDepthSensor* singleDepthSensor, float value);
227
235 bool sendInertialSensorValues(
236 const InertialSensor* inertialSensor, const std::vector<float>& values);
248 bool sendSonarSensorValues(
249 const SonarSensor* sonarSensor, const std::vector<float>& values);
253 bool sendSonarSensorValue(const SonarSensor* sonarSensor, float value);
254
256 bool sendArrayDepthSensorValues(
257 const ArrayDepthSensor* arrayDepthSensor,
258 const std::vector<float>& values);
259
262 void cameraBufferSize(
263 const CameraSensor* camera,
264 int* cameraBufferSize,
265 int* width,
266 int* height);
273 int cameraBufferSize(const CameraSensor* camera);
274
278 void cameraDepthBufferSize(
279 const CameraDepthSensor* camera,
280 int* cameraBufferSize,
281 int* width,
282 int* height);
283
285 CameraResolution cameraResolution(const BaseCamera* camera) const;
287 CameraColorSpace cameraColorSpace(const BaseCamera* camera) const;
288
290 class HALInterfaceImpl* a_impl;
291 };
292
293
295 void ALNAOSIM_API cameraResolution(CameraResolution camRes, int* width, int* height);
296
297 }
298 #endif // ALNAOSIM_H
Sim::Model
Sim::InertialSensor
Sim::BumperSensor
Sim::WheelVelocityActuator
Sim::SonarSensor
Sim::AngleSpeedActuator
Sim::CameraSensor
Sim::BaseCamera
Sim::SingleDepthSensor
Sim::AngleSpeedSensor
Sim::TorqueSensor
Sim::HALInterface::a_impl
class HALInterfaceImpl * a_impl
Private implementation.
Definition: alnaosim.h:290
ALNAOSIM_API
#define ALNAOSIM_API
Definition: alnaosim.h:15
Sim::CoupledSensor
Sim::WheelTorqueActuator
Sim::TactileSensor
Sim::LEDActuator
Sim::HALInterface
HALInterface is responsible for reading and writing values into the Hardware Abstraction Layer (HAL) ...
Definition: alnaosim.h:61
Sim::WheelVelocitySensor
Sim::CoupledActuator
Sim::DepthInfraredSensor
SingleDepthSensor DepthInfraredSensor
Sim::AngleSensor
Sim::ArrayDepthSensor
Sim::TorqueActuator
Sim::FSRSensor
Sim::AngleActuator
Sim::CameraDepthSensor