Enki::CircularCam Class Reference
[Interaction classes]

#include <CircularCam.h>

Inheritance diagram for Enki::CircularCam:

List of all members.

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Detailed Description

1D Circular camera

Public Member Functions
	CircularCam (Robot *owner, An::Vector pos, double height, double orientation, double fieldOfView, unsigned pixelCount)
	Constructor. r is the vision radius and owner is the Sbot the camera belongs to.
virtual	~CircularCam ()
	Destructor.
virtual void	init ()
	Init at each step.
virtual void	objectStep (double dt, PhysicalObject *po, World *w)
	Interact with object.
virtual void	wallsStep (World *w)
	Interact with walls.
virtual void	finalize (double dt)
	Finalize at each step.
An::Point	getAbsolutePosition (void)
	Return the absolute position (world coordinates) of the camera, updated at each time step on init().
double	getAbsoluteOrientation (void)
	Return the absolute orientation (world coordinates) of the camera, updated at each time step on init().
Public Attributes
std::valarray< double >	zbuffer
	zbuffer (array of size pixelCount of double)
std::valarray< An::Color >	image
	Image (array of size pixelCount of Color).
double	fieldOfView
	Field of view = [-fieldOfView; + fieldOfView]. [0; PI/2].
double	angleOffset
	Angular offset based on owner angle.
bool	useFog
	Fog switch, exponential decay of light with distance.
double	fogDensity
	Density of fog, used to compute light attenuation with the function: light = light0 * exp(-fogDensity * distance).
An::Color	lightThreshold
	Minimum incoming light, otherwise 0. Only used if useFog is true.
PixelOperationFunctor *	pixelOperation
	Pointer to active pixel operation.
Protected Member Functions
double	interpolateLinear (double s0, double s1, double sv, double d0, double d1)
	Return linear interpolated value between d0 and d1, given a sensorvalue sv between s0 and s1.
void	drawTexturedLine (const An::Point &p0, const An::Point &p1, const An::Texture &texture)
	Draw a textured line from point p0 to p1 using texture - WTF are p0 and p1??
Protected Attributes
An::Vector	positionOffset
	Position offset based on owner position.
double	height
	Height above ground, the camera will not see any object of smaller height.
An::Vector	absPos
	Absolute position in the world, updated on init().
double	absOrientation
	Absolute angle in the world, updated on init().

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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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