Enki::OmniCam Class Reference
[Interaction classes]

#include <CircularCam.h>

Inheritance diagram for Enki::OmniCam:

List of all members.

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Detailed Description

1D omnidirectional circular camera, based on 2 CircularCam Pixels start at -PI and then follow mathematical orientation to PI

Public Member Functions
	OmniCam (Robot *owner, double height, unsigned halfPixelCount)
	Constructor.
virtual	~OmniCam ()
	Destructor.
virtual void	init (double dt, World *w)
	Init at each step.
virtual void	objectStep (double dt, World *w, PhysicalObject *po)
	Interact with object.
virtual void	wallsStep (double dt, World *w)
	Interact with walls.
virtual void	finalize (double dt, World *w)
	Finalize at each step.
void	setRange (double range)
	Change the sight range of the camera.
void	setFogConditions (bool useFog, double density=0.0, Color threshold=Color::black)
	Change the fog condition for this camera. If useFog is true, an exponential fog with density will be used. Additionally, a threshold can be applied on the resulting color.
void	setPixelOperationFunctor (PixelOperationFunctor *pixelOperationFunctor)
	Change the pixel operation functor.
Public Attributes
std::valarray< double >	zbuffer
	zbuffer: distances at square (array of size pixelCount of double)
std::valarray< Color >	image
	Image (array of size pixelCount of Color).
Protected Attributes
CircularCam	cam0
	Cameras doing the real job, first part.
CircularCam	cam1
	Cameras doing the real job, second part.

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Constructor & Destructor Documentation

Enki::OmniCam::OmniCam	(	Robot *	owner,
		double	height,
		unsigned	halfPixelCount
	)

Constructor.

Parameters:

	owner	robot this camera is attached to
	height	height of this camera with respect to ground
	halfPixelCount	half the number of pixel to cover the full 2*PI field of view

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Member Function Documentation

void Enki::OmniCam::objectStep	(	double	dt,
		World *	w,
		PhysicalObject *	po
	)			[virtual]

Interact with object.

Parameters:

	dt	time step
	po	object to interact with
	w	world where the interaction takes place

Reimplemented from Enki::LocalInteraction.

void Enki::OmniCam::wallsStep	(	double	dt,
		World *	w
	)			[virtual]

Interact with walls.

Parameters:

w

world to which interact

Reimplemented from Enki::LocalInteraction.

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

• enki/interactions/CircularCam.h
• enki/interactions/CircularCam.cpp

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