enki/robots/s-bot/Sbot.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_SBOT_H
#define __ENKI_SBOT_H

#include <enki/robots/DifferentialWheeled.h>
#include <enki/interactions/CircularCam.h>
#include <enki/interactions/Microphone.h>
#include <enki/interactions/ActiveSoundSource.h>
#include <enki/robots/s-bot/SbotObject.h>

namespace Enki
{

    class SbotGlobalSound : public GlobalInteraction
    {
    protected:
        static unsigned worldFrequenciesState;
        
    public:
        unsigned frequenciesState;
        
    public:
        SbotGlobalSound (Robot *me) { this->owner = me; }
        virtual void init() { worldFrequenciesState = 0; }
        virtual void step(double dt, World *w) { worldFrequenciesState |= frequenciesState; }
        static unsigned getWorldFrequenciesState(void);
    };



    class SbotMicrophone : public FourWayMic
    {
    public:
        SbotMicrophone(Robot *owner, double micDist, double range,
                       MicrophoneResponseModel micModel, unsigned channels) :
            FourWayMic(owner, micDist, range, micModel, channels) {}
        void objectStep(double dt, PhysicalObject *po, World *w);
    };


    class Sbot : public DifferentialWheeled
    {
    public:
        OmniCam camera;
        SbotGlobalSound globalSound;

    public:
        Sbot();
        ~Sbot() {}
    };



    class FeedableSbot : public Sbot
    {
    public:
        double energy;
        double dEnergy;
        double lastDEnergy;

        FeedableSbot() { energy=0; dEnergy=0; lastDEnergy=0; }
        virtual void controlStep(double dt) ;
    };



    class SoundSbot : public FeedableSbot
    {
    public:
        SbotMicrophone mic;
        ActiveSoundSource speaker;
        virtual void step(double dt);

    public:
        SoundSbot();
    };
}
#endif

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