Khepera.h

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/*
    Enki - a fast 2D robot simulator
    Copyright (C) 1999-2005 Stephane Magnenat <nct@ysagoon.com>
    Copyright (C) 2004-2005 Antoine Beyeler <antoine.beyeler@epfl.ch>
    Copyright (C) 2005 Laboratory of Intelligent Systems, EPFL, Lausanne
    See AUTHORS for details

    This program is free software; the authors of any publication 
    arising from research using this software are asked to add the 
    following reference:
    Enki - a fast 2D robot simulator part of the Teem framework
    http://teem.epfl.ch
    Stephane Magnenat <stephane.magnenat@epfl.ch>,
    Markus Waibel <markus.waibel@epfl.ch>
    Laboratory of Intelligent Systems, EPFL, Lausanne.

    You can redistribute this program and/or modify
    it under the terms of the GNU General Public License as published by
    the Free Software Foundation; either version 2 of the License, or
    (at your option) any later version.

    This program is distributed in the hope that it will be useful,
    but WITHOUT ANY WARRANTY; without even the implied warranty of
    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
    GNU General Public License for more details.

    You should have received a copy of the GNU General Public License
    along with this program; if not, write to the Free Software
    Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
*/

#ifndef __KHEPERA_H
#define __KHEPERA_H

#include <enki/PhysicalEngine.h>
#include <enki/interactions/IRSensor.h>
#include <enki/interactions/CircularCam.h>

namespace Enki
{

    class Khepera : public Robot
    {
    public:
        IRSensor infraredSensor0;
        IRSensor infraredSensor1;
        IRSensor infraredSensor2;
        IRSensor infraredSensor3;
        IRSensor infraredSensor4;
        IRSensor infraredSensor5;
        IRSensor infraredSensor6;
        IRSensor infraredSensor7;
        CircularCam camera;
        
    public:
        double leftSpeed, rightSpeed;
        double leftEncoder, rightEncoder;
    
    protected:
        An::Vector oldPos;
        double oldAngle;
        
    public:
        enum Capabilities
        {
            CAPABILITIY_NONE = 0,
            CAPABILITIY_BASIC_SENSORS = 0x1,
            CAPABILITY_CAMERA = 0x2
        };

    public:
        Khepera(unsigned capabilities = CAPABILITIY_BASIC_SENSORS);
        void step(double dt);
        
        void resetEncoders();
    
    };
}

#endif

---