enki/interactions/IRSensor.h

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/*
    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_IRSENSOR_H
#define __ENKI_IRSENSOR_H

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

#include <valarray>
#undef min

namespace Enki
{


    struct SensorResponseFunctor
    {
        virtual ~SensorResponseFunctor() {}
        virtual double operator()(double, const Color &) = 0;
    };
    

    class IRSensor : public LocalInteraction
    {
    protected:
        Vector absPos;
        double absOrientation;
        Vector pos;
        double height;
        double orientation;
        double range;
        double aperture;
        unsigned rayCount;

        std::valarray<SensorResponseFunctor *> sensorResponseKernel;
        
        double smartRadius;
        Point smartPos;
        Vector absSmartPos;
        std::valarray<double> rayValues;
        std::valarray<Color> rayColors;
        std::valarray<double> rayAngles;
        std::valarray<double> absRayAngles;
    
    public:
        double finalValue;
        
    public:
        IRSensor(Robot *owner, Vector pos, double height, double orientation, double range, double aperture, unsigned rayCount, SensorResponseFunctor **sensorResponseKernel);
        void init(double dt, World* w);
        void objectStep(double dt, World *w, PhysicalObject *po);
        void wallsStep(double dt, World* w);
        void finalize(double dt, World* w);
        
        Point getAbsolutePosition(void) { return absPos; }
        double getAbsoluteOrientation(void) { return absOrientation; }
        unsigned getRayCount(void) { return rayCount; }
        double getAperture(void) { return aperture; }
        double getRange(void) { return range; }
        double getSmartRadius(void) { return smartRadius; }
        Point getAbsSmartPos(void) { return absSmartPos; }
        double getDist(void) { double val = rayValues[rayValues.size() / 2]; return std::min(val, range); }
    
    private:
        double distanceToPolygon(double rayAngle, const Polygone &p) const;
    };
}

#endif

---