Enki::FourWayMic Class Reference
[Interaction classes]

#include <Microphone.h>

Inheritance diagram for Enki::FourWayMic:

List of all members.

---

Detailed Description

A generic sound sensor/microphone.

Public Member Functions
	FourWayMic (Robot *owner, double micDist, double range, MicrophoneResponseModel micModel, unsigned channels)
	Constructor e.g.
	~FourWayMic (void)
	Destructor.
void	init ()
	Reset distance values, called every w->step().
virtual void	objectStep (double dt, PhysicalObject *po, World *w)
	Check for local interactions with other physical objects.
void	resetSound (void)
	Reset sound buffer to 0 after one time-step in experiment.
double *	getAcquiredSound (unsigned micNo)
	Return frequencies of input sound.
void	getMaxChannel (unsigned micNo, double *intensity, int *channel)
	Find frequency with maximum intensity.
Vector	getMicAbsPos (unsigned micNo)
	Get absolute position of microphone.
Protected Attributes
PhysicalObject *	owner
	Robot/object with the microphone.
Vector	allMicAbsPos [4]
	Absolute position in the world, updated on init().
double	micDist
	Distance of the mics from centre of object.
MicrophoneResponseModel	micModel
	Microphone frequency response model.
double	range
	Actual detection range.
unsigned	noOfChannels
	No of frequency channels distinguished in input.
double *	acquiredSound [4]
	Microphone input signal (array of size noOfChannels for 4 mics).

---

Constructor & Destructor Documentation

Enki::FourWayMic::FourWayMic	(	Robot *	owner,
		double	micDist,
		double	range,
		MicrophoneResponseModel	micModel,
		unsigned	channels
	)

Constructor e.g.

: FourWayMic(this, 0.5, 5, micStepModel, 20); meaning: each of the 4 mics is 0.5 away from robot center, can hear sounds up to 5 units away, uses a step model to detect sounds and can distinguish 20 frequencies

---

The documentation for this class was generated from the following files:

• enki/interactions/Microphone.h
• enki/interactions/Microphone.cpp

---