ARGoS
3
A parallel, multi-engine simulator for swarm robotics
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00001 00007 #ifndef PROXIMITY_DEFAULT_SENSOR_H 00008 #define PROXIMITY_DEFAULT_SENSOR_H 00009 00010 #include <string> 00011 #include <map> 00012 00013 namespace argos { 00014 class CProximityDefaultSensor; 00015 class CProximitySensorEquippedEntity; 00016 } 00017 00018 #include <argos3/plugins/robots/generic/control_interface/ci_proximity_sensor.h> 00019 #include <argos3/core/utility/math/range.h> 00020 #include <argos3/core/utility/math/rng.h> 00021 #include <argos3/core/simulator/space/space.h> 00022 #include <argos3/core/simulator/sensor.h> 00023 00024 namespace argos { 00025 00026 class CProximityDefaultSensor : public CSimulatedSensor, 00027 public CCI_ProximitySensor { 00028 00029 public: 00030 00031 CProximityDefaultSensor(); 00032 00033 virtual ~CProximityDefaultSensor() {} 00034 00035 virtual void SetRobot(CComposableEntity& c_entity); 00036 00037 virtual void Init(TConfigurationNode& t_tree); 00038 00039 virtual void Update(); 00040 00041 virtual void Reset(); 00042 00048 virtual Real CalculateReading(Real f_distance); 00049 00050 protected: 00051 00053 CEmbodiedEntity* m_pcEmbodiedEntity; 00054 00056 CProximitySensorEquippedEntity* m_pcProximityEntity; 00057 00059 CControllableEntity* m_pcControllableEntity; 00060 00062 bool m_bShowRays; 00063 00065 CRandom::CRNG* m_pcRNG; 00066 00068 bool m_bAddNoise; 00069 00071 CRange<Real> m_cNoiseRange; 00072 00074 CSpace& m_cSpace; 00075 }; 00076 00077 } 00078 00079 #endif