Teem::EnkiSbot Class Reference
[World interfaces]

#include <Enki.h>

Inheritance diagram for Teem::EnkiSbot:

List of all members.

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Detailed Description

This is the implementation of an Sbot in the Enki simulator.

Public Member Functions
virtual	~EnkiSbot ()
	Destructor, remove object from world and destroy Enki instance.
virtual void	setSpeed (double left, double right)
	Set the speed of the left and right wheels of the robot.
virtual void	getCameraAverage (An::Color meanPixels[8])
	Sbot camera orientation is geometric (i.e. CCW).
virtual void	getCamera (An::Color meanPixels[128])
	Sbot camera orientation is geometric (i.e. CCW).
virtual void	setRingColor (const An::Color &color)
	Set the color of the Sbot ring in RGB using range [0..1].
virtual void	clearEnergy (void)
	Clear the energy of this Sbot, equal to setEnergy(0).
virtual void	setEnergy (double energy)
	Set the energy of this Sbot to energy.
virtual double	getEnergy (void)
	Return the actual energy of this Sbot.
virtual double	getDEnergy (void)
	Return the actual energy derivate (one step increment) of this Sbot.
virtual void	setFrequencies (unsigned frequencies)
	Transmit sound using frequencies mask.
virtual unsigned	getFrequencies (void)
	Return a mask of active frequencies in the world.
virtual void	randomizeRealisticConditions (void)
	Get new noisy coefficient for wheel motors in realistic mode.
Protected Attributes
double	motorCoeffL
	left wheel motor noisy coefficient in realistic mode
double	motorCoeffR
	right wheel motor noisy coefficient in realistic mode
Private Member Functions
	EnkiSbot (EnkiWorld *world, const std::string &root)
	Private constructor, created from world.
Private Attributes
EnkiWorld *	world
	Pointer to world to be able to remove object in destructor.
Ishtar::VariablesPublisher	ishtarPublisher
	Ishtar publisher for accessible variables of the Enki object.
Static Private Attributes
static Ishtar::Variable< bool > *	realistic
	If true, postprocessing is applied to inputs/outputs so that simulation matches reality more closely.
Friends
class	EnkiWorld
class	Registrar< Entity, std::string, EnkiWorld *, std::string >

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

• world/Enki.h
• world/Enki.cpp

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