//constructors
CameraSim::CameraSim(void)
{
setDrawReferenceSystem(); //by default the refence system is drawn
setColor(1,1,0);
CylindricalPart *glass=new CylindricalPart(0.110,0.053,10);
glass->setColor(0.1,0.1,1.0);
(*this)+=glass;
}
LMS100Sim::LMS100Sim()
{
//constructor: create the physical representation of the laserscanner
//ojo el laserSensor tiene como referencia el centro del haz, luego al montarlo
//mecánicamente hay que tener en cuenta la transformación (la altura de la base al haz es 0.01157 m
//la resolución tomada es 0.5º 270º
CylindricalPart *body1=new CylindricalPart(0.095,0.05025);
body1->setColor(0.3,0.3,1.0);
body1->setRelativePosition(Vector3D(0,0,-0.1157));
(*this)+=body1;
vector<Vector2D> list;
PrismaticPart *body2=new PrismaticPart;
list.push_back(Vector2D(0.0,-0.05));
list.push_back(Vector2D(-0.0525,-0.05));
list.push_back(Vector2D(-0.0525,0.05));
list.push_back(Vector2D(0.0,0.05));
body2->setPolygonalBase(list);
body2->setHeight(0.09); //90mm
body2->setColor(0.3,0.3,1.0);
body2->setRelativePosition(Vector3D(0,0,-0.1157));
(*this)+=body2;
//el cristal se pinta pero no se usa en la detección
CylindricalPart *glass=new CylindricalPart(0.100,0.045,10);
glass->setColor(0.1,0.1,0.1);
glass->setRelativePosition(Vector3D(0,0,-0.0635));
//glass non detectable by raytracing
glass->setIntersectable(false);
(*this)+=glass;
setLaserProperties(DEG2RAD*(-135), DEG2RAD*0.5,541,20.0,0);
setDrawReferenceSystem(false); //due to the solid allows the orientation identification
//the painting of the ref system is desactivated
}
//constructors
KinectSim::KinectSim(void)
{
setDrawReferenceSystem(); //by default the refence system is drawn
setColor(1,1,0);
PrismaticPart *bod=new PrismaticPart;
//ojo el laserSensor tiene como referencia el centro del haz, luego al montarlo
//mecánicamente hay que tener en cuenta la transformación
double body[9][2]=
{{0.063,0.122},{-0.093,0.122},{-0.093,-0.063},{0.063,-0.063},
{0.063,-0.053},{0.0,-0.053},{-0.040,-0.030},{-0.040,0.053},{0.063,0.053}};
vector<Vector2D> list;
int i;
for(i=0;i<9;i++)list.push_back(Vector2D(body[i][0],body[i][1]));
bod->setPolygonalBase(list);
bod->setHeight(0.155); //155mm
bod->setRelativePosition(Vector3D(0,0.155/2,0));
bod->setRelativeOrientation(X_AXIS,PI/2);
bod->setColor(1.0,0.1,1.0);
//bod->setIntersectable(false);
(*this)+=bod;
}
//constructors
LaserSensor3DSim::LaserSensor3DSim(void)
{
setDrawReferenceSystem(); //by default the refence system is drawn
setColor(1,1,0);
}
