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Bumper

Bumper

Interface for a bump sensor device, which may contain one or more individual sensing elements (bumpers).

Inputs

None.

Outputs

Port name Purpose Data
Bumpers Bump sensor values: true for on, false for off. TimedBooleanSeq

Services

Port name Purpose Parameters Return data
GetGeometry Device position and size information. None BumperArrayGeometry

BumperArrayGeometry

Member Type Description
baseGeometry Geometry3D Geometry of the overall array.
bumpers sequence<BumperGeometry> Geometry of each individual bump sensor element.

BumperGeometry

Member Type Description
pose Pose3D Pose of the bumper's base point in the array's coordinate space.
size Size3D Size of the bumper.
roc double Radius of curvature of the bump sensor in metres. Zero if the bumper is a straight line.
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latest Releases : 2.0.0-RELESE

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