ARGoS  3
A parallel, multi-engine simulator for swarm robotics
argos::CLightDefaultSensor Class Reference

#include <light_default_sensor.h>

+ Inheritance diagram for argos::CLightDefaultSensor:

List of all members.

Public Member Functions

 CLightDefaultSensor ()
virtual ~CLightDefaultSensor ()
virtual void SetRobot (CComposableEntity &c_entity)
 Sets the entity associated to this sensor.
virtual void Init (TConfigurationNode &t_tree)
 Initializes the sensor from the XML configuration tree.
virtual void Update ()
 Updates the state of the entity associated to this sensor.
virtual void Reset ()
 Resets the sensor to the state it had just after Init().
virtual Real CalculateReading (Real f_distance, Real f_intensity)
 Calculates the light reading resulting from a light source at the given distance.

Protected Attributes

CEmbodiedEntitym_pcEmbodiedEntity
 Reference to embodied entity associated to this sensor.
CLightSensorEquippedEntitym_pcLightEntity
 Reference to light sensor equipped entity associated to this sensor.
CControllableEntitym_pcControllableEntity
 Reference to controllable entity associated to this sensor.
bool m_bShowRays
 Flag to show rays in the simulator.
CRandom::CRNGm_pcRNG
 Random number generator.
bool m_bAddNoise
 Whether to add noise or not.
CRange< Realm_cNoiseRange
 Noise range.
CSpacem_cSpace
 Reference to the space.

Detailed Description

Definition at line 26 of file light_default_sensor.h.


Constructor & Destructor Documentation

virtual argos::CLightDefaultSensor::~CLightDefaultSensor ( ) [inline, virtual]

Definition at line 33 of file light_default_sensor.h.


Member Function Documentation

Real argos::CLightDefaultSensor::CalculateReading ( Real  f_distance,
Real  f_intensity 
) [virtual]

Calculates the light reading resulting from a light source at the given distance.

Denoting the intensity with i and the distance x, this function calculates i = (I / x)^2. I is the reference intensity of the light, that is, the distance at which the light reading saturates. It is dependent on the light entity being considered.

Parameters:
f_distanceThe distance of the considered light source.
f_intensityThe reference intensity of the considered light source.
Returns:
A value in the range [0:1], where 0 means that the light is too far to be sensed, and 1 means the light is so close that it saturates the sensor.

Definition at line 147 of file light_default_sensor.cpp.

Initializes the sensor from the XML configuration tree.

The default implementation of this method does nothing.

Parameters:
t_nodeThe XML configuration tree relative to this sensor.
See also:
Reset()
Destroy()

Reimplemented from argos::CCI_Sensor.

Definition at line 51 of file light_default_sensor.cpp.

Resets the sensor to the state it had just after Init().

The default implementation of this method does nothing.

See also:
Init()
Destroy()

Reimplemented from argos::CCI_Sensor.

Definition at line 138 of file light_default_sensor.cpp.

Sets the entity associated to this sensor.

When a controller is created, all the sensors and actuators are created, too. This function is called right before the Init() method of the sensor is called.

Parameters:
c_entityThe entity to associate to this sensor.
See also:
CComposableEntity
CControllableEntity::SetController()
CCI_Sensor::Init()

Implements argos::CSimulatedSensor.

Definition at line 35 of file light_default_sensor.cpp.

Updates the state of the entity associated to this sensor.

Implements argos::CSimulatedSensor.

Definition at line 77 of file light_default_sensor.cpp.


Member Data Documentation

Whether to add noise or not.

Definition at line 72 of file light_default_sensor.h.

Flag to show rays in the simulator.

Definition at line 66 of file light_default_sensor.h.

Noise range.

Definition at line 75 of file light_default_sensor.h.

Reference to the space.

Definition at line 78 of file light_default_sensor.h.

Reference to controllable entity associated to this sensor.

Definition at line 63 of file light_default_sensor.h.

Reference to embodied entity associated to this sensor.

Definition at line 57 of file light_default_sensor.h.

Reference to light sensor equipped entity associated to this sensor.

Definition at line 60 of file light_default_sensor.h.

Random number generator.

Definition at line 69 of file light_default_sensor.h.


The documentation for this class was generated from the following files: