RoboidControl.TouchSensor Class Reference

Detailed Description

A sensor which can detect touches.

Inheritance diagram for RoboidControl.TouchSensor:

Public Member Functions
	TouchSensor (Thing parent)
	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	ReplacePosition (Spherical newPosition)
void	ReplaceOrientation (SwingTwist newOrientation)
virtual void	Update (bool recurse=false)
	Update de state of the thing.

Static Public Member Functions
static void	CreateRoot (Participant owner)
	Create a root Thing for a participant.
static ulong	GetTimeMs ()
	Get the current time in milliseconds.

Public Attributes
bool	terminate = false
	Terminated things are no longer updated.
byte	id = 0
	The ID of this thing.
byte	type = Type.Undetermined
	The type of this thing.
bool	isRemote = false
Participant	owner = null
	The participant owning this thing.
bool	nameChanged = false
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.
ConcurrentQueue< CoreEvent >	updateQueue = new()
	Queue containing events happened to this thing.

Protected Attributes
List< Thing >	children = new()
	The children of this thing.

Properties
bool	touchedSomething [get, set]
static Thing	localRoot [get]
	The root thing for the local participant.
virtual string	name [get, set]
	The name of the thing.
string	modelUrl [get, set]
	An URL pointing to the location where a model of the thing can be found.
Thing	parent [get, set]
	The parent of this thing.
bool	isRoot [get]
	Indication whether this is a root 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.

Constructor & Destructor Documentation

TouchSensor()

RoboidControl.TouchSensor.TouchSensor

(

Thing

parent

)

Create a new child touch sensor.

Parameters

parent

The parent thing

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

bytes

The binary data to process

Reimplemented from RoboidControl.Thing.

CreateRoot()

static void RoboidControl.Thing.CreateRoot ( Participant  owner )

staticinherited

Create a root Thing for a participant.

Parameters

owner

The participant who will own this root thing

AddChild()

void RoboidControl.Thing.AddChild ( Thing  child )

inherited

Add a child Thing to this Thing.

Parameters

child

The 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

child

The child to remove

Returns

True when the child was present or false when it was not found

Update()

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

virtualinherited

Update de state of the thing.

Parameters

recurse

When true, this will Update the descendants recursively

Reimplemented in RoboidControl.ControlledMotor, RoboidControl.EncoderMotor, and RoboidControl.DifferentialDrive.

GetTimeMs()

static ulong RoboidControl.Thing.GetTimeMs ( )

staticinherited

Get the current time in milliseconds.

Returns

The current time in milliseconds

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.

Property Documentation

modelUrl

string RoboidControl.Thing.modelUrl

getsetinherited

An URL pointing to the location where a model of the thing can be found.

Although the roboid implementation is not dependent on the model, the only official supported model formats are .png (sprite), .gltf and .glb