Overview #

The SensorInterface is a C++ class authored by Henry Phalen. It is a derivative of the mtsComponent class and offers functionality to interact with a sensor system. The class is capable of updating sensor interfaces.

The corresponding source files are:

• Header file: SensorInterface.h
• Source file: SensorInterface.cpp

The SensorInterface class utilizes several libraries, including:

• cisstVector: A library for vector operations.
• cisstMultiTask/mtsComponent: A library for the multitask component.
• sawConstraintController/prmSensorState: A library defining the sensor state.
• cisstMultiTask/mtsInterfaceRequired: A library for required interface in the multitask component.
• cisstMultiTask/mtsFunctionRead: A library for read function in the multitask component.

Class Definition #

Variables #

• interface_name: A string storing the name of the SensorInterface instance.
• sensor_state: An instance of prmSensorState, representing the state of the sensor.
• read_interfaces: A vector storing pointers to mtsInterfaceRequired objects, used for read interfaces. (?)
• read_functions: A vector storing pointers to mtsFunctionRead objects, used for read functions. (?)

Functions #

• Constructor SensorInterface(const std::string& interface_name="SensorInterface"): This function initializes a SensorInterface instance with an optional interface name. It sets the name of the mtsComponent to be the given interface_name.
• Destructor ~SensorInterface(): This function destroys the SensorInterface instance.
• Function Update(): A virtual function that updates the sensor interface. Its specific functionality might depend on the implementation in a derived class. (?)