センサモデル

sensor-model [クラス]


  :super   body 

  :slots 		 data profile

:profile &optional p [メソッド]

:signal rawinfo [メソッド]

:simulate model [メソッド]

:read [メソッド]

:draw-sensor v [メソッド]

:init shape &key name &allow-other-keys [メソッド]

bumper-model [クラス]


  :super   sensor-model 

  :slots 		 bumper-threshold

$\begin{emtabbing} {\bf :init} \it b \&rest args \&key \= ((:bumper-threshold bt) 20) \\lq [method]\\ \> name \rm \end{emtabbing}$

: Create bumper model, b is the shape of an object and bt is the threshold in distance[mm].

:simulate objs [メソッド]

: Simulate bumper, with given objects, return 1 if the sensor detects an object and 0 if not.

:draw vwer [メソッド]

:draw-sensor vwer [メソッド]

camera-model [クラス]


  :super   sensor-model 

  :slots 		 (vwing :forward (:projection :newprojection :view :viewpoint :view-direction :viewdistance :yon :hither)) img-viewer pwidth pheight

$\begin{emtabbing} {\bf :init} \it b \&rest args \&key \= ((:width pw) 320) \\lq [... ...ither 100.0) \\ \> (yon 10000.0) \\ \> \&allow-other-keys \rm \end{emtabbing}$

: Create camera model. b is the shape of an object

:create-viewer &optional cv [メソッド]

: Create camera viewer, or set viewer

:width [メソッド]

: Returns width of the camera in pixel.

:height [メソッド]

: Returns height of the camera in pixel.

:fovy [メソッド]

: Returns field of view in degree

:cx [メソッド]

: Returns center x.

:cy [メソッド]

: Returns center y.

:fx [メソッド]

: Returns focal length of x.

:fy [メソッド]

: Returns focal length of y.

:screen-point pos [メソッド]

: Returns point in screen corresponds to the given pos.

:3d-point x y d [メソッド]

: Returns 3d position

:ray x y [メソッド]

: Returns ray vector of given x and y.

$\begin{emtabbing} {\bf :draw-on} \it\&rest args \&key \= ((:viewer vwer) \texta... ...textasteriskcentered ) \\lq [method]\\ \> \&allow-other-keys \rm \end{emtabbing}$

: Draw camera raw in irtviewer, ex (send cam :draw-on :flush t)

:draw-objects objs [メソッド]

: Draw objects in camera viewer, expected type of objs is list of objects

$\begin{emtabbing} {\bf :get-image} \it\&key \= (with-points) \\lq [method]\\ \> (with-colors) \rm \end{emtabbing}$

: Get image objects you need to call :draw-objects before calling this function

:select-drawmode mode objs [メソッド]

: Change drawmode for drawing with :draw-objects methods. mode is symbol of mode, 'hid is symbol for hidden line mode, the other symbols indicate default mode. objs is the same objects using :draw-objects.

:viewing &rest args [メソッド]

:image-viewer &rest args [メソッド]

:draw-sensor vwer &key flush (width 1) (color (float-vector 1 1 1)) [メソッド]

:draw-objects-raw vwr objs [メソッド]

:get-image-raw vwr &key (points) (colors) [メソッド]

$\begin{emtabbing} {\bf make-camera-from-param} \it\&key \= pwidth \\lq [function]... ...ty 0) \\ \> parent-coords \\ \> name \\ \> create-viewer \rm \end{emtabbing}$

: Create camera object from given parameters.

2016-04-05