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Sbot.h

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00001 /*
00002     Enki - a fast 2D robot simulator
00003     Copyright (C) 1999-2005 Stephane Magnenat <nct@ysagoon.com>
00004     Copyright (C) 2005 Laboratory of Intelligent Systems, EPFL, Lausanne
00005     See AUTHORS for details
00006 
00007     This program is free software; the authors of any publication 
00008     arising from research using this software are asked to add the 
00009     following reference:
00010     Enki - a fast 2D robot simulator part of the Teem framework
00011     http://teem.epfl.ch
00012     Stephane Magnenat <stephane.magnenat@epfl.ch>,
00013     Markus Waibel <markus.waibel@epfl.ch>
00014     Laboratory of Intelligent Systems, EPFL, Lausanne.
00015 
00016     You can redistribute this program and/or modify
00017     it under the terms of the GNU General Public License as published by
00018     the Free Software Foundation; either version 2 of the License, or
00019     (at your option) any later version.
00020 
00021     This program is distributed in the hope that it will be useful,
00022     but WITHOUT ANY WARRANTY; without even the implied warranty of
00023     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00024     GNU General Public License for more details.
00025 
00026     You should have received a copy of the GNU General Public License
00027     along with this program; if not, write to the Free Software
00028     Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
00029 */
00030 
00031 #ifndef __SBOT_H
00032 #define __SBOT_H
00033 
00034 #include <enki/PhysicalEngine.h>
00035 #include <enki/robots/s-bot/SbotCam.h>
00036 
00041 namespace Enki
00042 {
00044 
00047     class SbotGlobalSound : public GlobalInteraction
00048     {
00049     protected:
00051         static unsigned worldFrequenciesState;
00052         
00053     public:
00055         unsigned frequenciesState;
00056         
00057     public:
00059         SbotGlobalSound::SbotGlobalSound (Robot *me) { this->owner = me; }
00061         virtual void init() { worldFrequenciesState = 0; }
00063         virtual void step(double dt, World *w) { worldFrequenciesState |= frequenciesState; }
00065         static unsigned getWorldFrequenciesState(void);
00066     };
00067     
00069 
00072     class Sbot : public Robot
00073     {
00074     public:
00076         SbotCam camera;
00078         SbotGlobalSound sound;
00079 
00080     public:
00082         double leftSpeed, rightSpeed;
00083 
00084     public:
00086         Sbot();
00088         ~Sbot() {}
00090         virtual void step(double dt);
00091     };
00092 
00093     // TODO : handle this nicely
00094     
00096 
00099     class FeedableSbot : public Sbot
00100     {
00101     public:
00103         double energy;
00105         double dEnergy;
00107         double lastDEnergy;
00108 
00110         FeedableSbot() { energy=0; dEnergy=0; lastDEnergy=0; }
00112         virtual void step(double dt) ;
00113     };
00114 }
00115 #endif
00116 

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