Roboid Control for C#
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Public Member Functions | Static Public Member Functions | Public Attributes | Protected Attributes | Properties | Events | List of all members
RoboidControl.TouchSensor Class Reference

Detailed Description

A sensor which can detect touches.

Inheritance diagram for RoboidControl.TouchSensor:
RoboidControl.Thing

Public Member Functions

 TouchSensor (bool invokeEvent=true)
 Create a touch sensor without communication abilities.
 
 TouchSensor (Participant owner, byte thingId=0, bool invokeEvent=true)
 Create a touch sensor for a participant.
 
 TouchSensor (Thing parent, byte thingId=0, bool invokeEvent=true)
 Create a new child touch sensor.
 
override void CreateComponent ()
 
override byte[] GenerateBinary ()
 Function used to generate binary data for this touch sensor.
 
override void ProcessBinary (byte[] bytes)
 Function used to process binary data received for this touch sensor.
 
void AddChild (Thing child)
 Add a child Thing to this Thing.
 
bool RemoveChild (Thing child)
 Remove the given thing as a child of this thing.
 
void Update (bool recurse=false)
 Update de state of the thing.
 
virtual void Update (ulong currentTimeMs, bool recurse=false)
 Update this thing.
 
delegate void ChangeHandler ()
 
delegate void SphericalHandler (Spherical v)
 
delegate void ThingHandler (Thing t)
 

Static Public Member Functions

static ulong GetTimeMs ()
 Get the current time in milliseconds.
 
static void InvokeNewThing (Thing thing)
 Trigger the creation for the given thing.
 

Public Attributes

bool terminate = false
 
Participant owner = null
 The participant owning this thing.
 
byte id = 0
 The ID of this thing.
 
byte type = Type.Undetermined
 The type of this thing.
 
bool nameChanged = false
 
string modelUrl = ""
 An URL pointing to the location where a model of the thing can be found.
 
Unity.Thing component = null
 A reference to the representation of the thing in Unity.
 
bool hierarchyChanged = true
 Indicator that the hierarchy of the thing has changed.
 
bool positionUpdated = false
 Boolean indicating that the thing has an updated position.
 
bool orientationUpdated = false
 Boolean indicating the thing has an updated orientation.
 
bool linearVelocityUpdated = false
 Boolean indicating the thing has an updated linear velocity.
 
bool angularVelocityUpdated = false
 Boolean indicating the thing has an updated angular velocity.
 

Protected Attributes

List< Thingchildren = new()
 The children of this thing.
 

Properties

bool touchedSomething [get, set]
 
virtual string name [get, set]
 The name of the thing.
 
Thing parent [get, set]
 The parent of this thing.
 
Spherical position [get, set]
 The position of the thing in local space, in meters.
 
SwingTwist orientation [get, set]
 The orientation of the thing in local space.
 
Spherical linearVelocity [get, set]
 The linear velocity of the thing in local space in meters per second.
 
Spherical angularVelocity [get, set]
 The angular velocity of the thing in local space in degrees per second.
 

Events

ChangeHandler OnNameChanged = delegate { }
 Event which is triggered when the name changes.
 
ChangeHandler OnPoseChanged = delegate { }
 Event triggered when the pose has changed.
 
SphericalHandler OnLinearVelocityChanged = delegate { }
 Event triggered when the linear velocity has changed.
 
SphericalHandler OnAngularVelocityChanged = delegate { }
 Event triggered when the angular velocity has changed.
 
static ThingHandler OnNewThing = delegate { }
 Event triggered when a new thing has been created.
 

Constructor & Destructor Documentation

◆ TouchSensor() [1/3]

RoboidControl.TouchSensor.TouchSensor ( bool  invokeEvent = true)

Create a touch sensor without communication abilities.

Parameters
invokeEventInvoke a OnNewThing event when the thing has been created

◆ TouchSensor() [2/3]

RoboidControl.TouchSensor.TouchSensor ( Participant  owner,
byte  thingId = 0,
bool  invokeEvent = true 
)

Create a touch sensor for a participant.

Parameters
ownerThe owning participant
thingIdThe ID of the thing, leave out or set to zero to generate an ID
invokeEventInvoke a OnNewThing event when the thing has been created

◆ TouchSensor() [3/3]

RoboidControl.TouchSensor.TouchSensor ( Thing  parent,
byte  thingId = 0,
bool  invokeEvent = true 
)

Create a new child touch sensor.

Parameters
parentThe parent thing
thingIdThe ID of the thing, leave out or set to zero to generate an ID
invokeEventInvoke a OnNewThing event when the thing has been created

Member Function Documentation

◆ CreateComponent()

override void RoboidControl.TouchSensor.CreateComponent ( )
virtual

Reimplemented from RoboidControl.Thing.

◆ GenerateBinary()

override byte[] RoboidControl.TouchSensor.GenerateBinary ( )
virtual

Function used to generate binary data for this touch sensor.

Returns
A byte array with the binary data

<remark>The byte array will be empty when the touch status has not changed</remark>

Reimplemented from RoboidControl.Thing.

◆ ProcessBinary()

override void RoboidControl.TouchSensor.ProcessBinary ( byte[]  bytes)
virtual

Function used to process binary data received for this touch sensor.

Parameters
bytesThe binary data to process

Reimplemented from RoboidControl.Thing.

◆ AddChild()

void RoboidControl.Thing.AddChild ( Thing  child)
inherited

Add a child Thing to this Thing.

Parameters
childThe Thing which should become a child
Remarks
When the Thing is already a child, it will not be added again

◆ RemoveChild()

bool RoboidControl.Thing.RemoveChild ( Thing  child)
inherited

Remove the given thing as a child of this thing.

Parameters
childThe child to remove
Returns
True when the child was present or false when it was not found

◆ GetTimeMs()

static ulong RoboidControl.Thing.GetTimeMs ( )
staticinherited

Get the current time in milliseconds.

Returns
The current time in milliseconds

◆ Update() [1/2]

void RoboidControl.Thing.Update ( bool  recurse = false)
inherited

Update de state of the thing.

Parameters
recurseWhen true, this will Update the descendants recursively

◆ Update() [2/2]

virtual void RoboidControl.Thing.Update ( ulong  currentTimeMs,
bool  recurse = false 
)
virtualinherited

Update this thing.

Parameters
currentTimehe current clock time in milliseconds; if this is zero, the current time is retrieved automatically
recurseWhen true, this will Update the descendants recursively

Reimplemented in RoboidControl.DifferentialDrive.

◆ InvokeNewThing()

static void RoboidControl.Thing.InvokeNewThing ( Thing  thing)
staticinherited

Trigger the creation for the given thing.

Parameters
thingThe created thing

Member Data Documentation

◆ type

byte RoboidControl.Thing.type = Type.Undetermined
inherited

The type of this thing.

This can be either a Thing.Type or a byte value for custom types.