enki/robots/alice/AliceCommunication.h

Go to the documentation of this file.

/*
    Enki - a fast 2D robot simulator
    Copyright (C) 1999-2008 Stephane Magnenat <stephane at magnenat dot net>
    Copyright (C) 2004-2005 Markus Waibel <markus dot waibel at epfl dot ch>
    Copyright (c) 2004-2005 Antoine Beyeler <abeyeler at ab-ware dot com>
    Copyright (C) 2005-2006 Laboratory of Intelligent Systems, EPFL, Lausanne
    Copyright (C) 2006-2008 Laboratory of Robotics 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
    http://lis.epfl.ch/enki
    Stephane Magnenat <stephane at magnenat dot net>,
    Markus Waibel <markus dot waibel at epfl dot 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 __ENKI_ALICECOMMUNICATION_H
#define __ENKI_ALICECOMMUNICATION_H

#include <enki/PhysicalEngine.h>
#include <enki/Interaction.h>

namespace Enki
{

    class AliceCommunication : public LocalInteraction
    {
    protected:
        std::vector<std::pair<Vector, double> > sensors;
        std::vector<Vector> realSensors;
        bool updatedRealSensors;
        
        void computeRealSensors(void);
    
        bool enabled;
        unsigned transmitValue;
        
        bool wasReceived;
        unsigned receivedSensor;
        unsigned receivedValue;
        double smallestDistance2;
         
    public:
        AliceCommunication(double r, Robot *owner);
        void init();
        void objectStep(double dt, PhysicalObject *po, World *w);
        
        void addSensor(Vector pos, double ray);
        void setTransmitValue(unsigned val);
        void setTransmit(bool enabled);
        bool wasCommunication(void);
        bool wasCommunicationSent(void);
        unsigned getSensorId(void);
        unsigned char getSensorValue(void);
    };
}

#endif

---