enki/robots/alice/Alice.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_ALICE_H
#define __ENKI_ALICE_H

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

namespace Enki
{

    class Alice : public Robot
    {
    protected:
        struct SensorModels
        {
            SensorResponseFunctor *frontleft[3];
            SensorResponseFunctor *frontright[3];
            SensorResponseFunctor *normal[3];
            SensorResponseFunctor *high[3];
            
            SensorModels();
            ~SensorModels();
        } sensorModels;
    
    public:
        IRSensor left;
        IRSensor front;
        IRSensor right;
        IRSensor back;
        IRSensor frontHighExt;
        IRSensor backleft;
        IRSensor backright;
        CircularCam circcam;
        AliceCommunication comm;


    public:
        double leftSpeed;
        double rightSpeed;
        
    public:
        enum Capabilities
        {
            CAPABILITIY_NONE = 0,
            CAPABILITIY_BASIC_SENSORS = 0x1,
            CAPABILITIY_CAMERA = 0x2,
            CAPABILITIY_COMMUNICATION = 0x4,
            CAPABILITIY_EXT_HIGH_SENSOR = 0x8,
            CAPABILITIY_EXT_BACK_LR_SENSORS = 0x10,
        };
        
    public:
        Alice(unsigned capabilities = CAPABILITIY_BASIC_SENSORS);
        void controlStep(double dt);
    };
}

#endif

---