ARGoS
3
A parallel, multi-engine simulator for swarm robotics
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#include <light_default_sensor.h>
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 | |
CEmbodiedEntity * | m_pcEmbodiedEntity |
Reference to embodied entity associated to this sensor. | |
CLightSensorEquippedEntity * | m_pcLightEntity |
Reference to light sensor equipped entity associated to this sensor. | |
CControllableEntity * | m_pcControllableEntity |
Reference to controllable entity associated to this sensor. | |
bool | m_bShowRays |
Flag to show rays in the simulator. | |
CRandom::CRNG * | m_pcRNG |
Random number generator. | |
bool | m_bAddNoise |
Whether to add noise or not. | |
CRange< Real > | m_cNoiseRange |
Noise range. | |
CSpace & | m_cSpace |
Reference to the space. |
Definition at line 26 of file light_default_sensor.h.
Definition at line 25 of file light_default_sensor.cpp.
virtual argos::CLightDefaultSensor::~CLightDefaultSensor | ( | ) | [inline, virtual] |
Definition at line 33 of file light_default_sensor.h.
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.
f_distance | The distance of the considered light source. |
f_intensity | The reference intensity of the considered light source. |
Definition at line 147 of file light_default_sensor.cpp.
void argos::CLightDefaultSensor::Init | ( | TConfigurationNode & | t_node | ) | [virtual] |
Initializes the sensor from the XML configuration tree.
The default implementation of this method does nothing.
t_node | The XML configuration tree relative to this sensor. |
Reimplemented from argos::CCI_Sensor.
Definition at line 51 of file light_default_sensor.cpp.
void argos::CLightDefaultSensor::Reset | ( | ) | [virtual] |
Resets the sensor to the state it had just after Init().
The default implementation of this method does nothing.
Reimplemented from argos::CCI_Sensor.
Definition at line 138 of file light_default_sensor.cpp.
void argos::CLightDefaultSensor::SetRobot | ( | CComposableEntity & | c_entity | ) | [virtual] |
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.
c_entity | The entity to associate to this sensor. |
Implements argos::CSimulatedSensor.
Definition at line 35 of file light_default_sensor.cpp.
void argos::CLightDefaultSensor::Update | ( | ) | [virtual] |
Updates the state of the entity associated to this sensor.
Implements argos::CSimulatedSensor.
Definition at line 77 of file light_default_sensor.cpp.
bool argos::CLightDefaultSensor::m_bAddNoise [protected] |
Whether to add noise or not.
Definition at line 72 of file light_default_sensor.h.
bool argos::CLightDefaultSensor::m_bShowRays [protected] |
Flag to show rays in the simulator.
Definition at line 66 of file light_default_sensor.h.
CRange<Real> argos::CLightDefaultSensor::m_cNoiseRange [protected] |
Noise range.
Definition at line 75 of file light_default_sensor.h.
CSpace& argos::CLightDefaultSensor::m_cSpace [protected] |
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.
CRandom::CRNG* argos::CLightDefaultSensor::m_pcRNG [protected] |
Random number generator.
Definition at line 69 of file light_default_sensor.h.