argos::CLightDefaultSensor Class Reference

#include <light_default_sensor.h>

Inheritance diagram for argos::CLightDefaultSensor:

Collaboration diagram for argos::CLightDefaultSensor:

Public Member Functions
	CLightDefaultSensor ()
virtual	~CLightDefaultSensor ()
virtual void	SetRobot (CComposableEntity &c_entity)
	Sets the entity associated to this sensor. More...
virtual void	Init (TConfigurationNode &t_tree)
	Initializes the sensor from the XML configuration tree. More...
virtual void	Update ()
	Updates the state of the entity associated to this sensor. More...
virtual void	Reset ()
	Resets the sensor to the state it had just after Init(). More...
virtual Real	CalculateReading (Real f_distance, Real f_intensity)
	Calculates the light reading resulting from a light source at the given distance. More...
Public Member Functions inherited from argos::CSimulatedSensor
virtual	~CSimulatedSensor ()
	Class destructor. More...
Public Member Functions inherited from argos::CCI_LightSensor
virtual	~CCI_LightSensor ()
const std::vector< Real > &	GetReadings () const
Public Member Functions inherited from argos::CCI_Sensor
virtual	~CCI_Sensor ()
	Class destructor. More...
virtual void	Destroy ()
	Destroys the sensor. More...
Public Member Functions inherited from argos::CBaseConfigurableResource
virtual	~CBaseConfigurableResource ()
	Class destructor. More...

Protected Attributes
CLightSensorEquippedEntity *	m_pcLightEntity
	Reference to light sensor equipped entity associated to this sensor. More...
CControllableEntity *	m_pcControllableEntity
	Reference to controllable entity associated to this sensor. More...
bool	m_bShowRays
	Flag to show rays in the simulator. More...
CRandom::CRNG *	m_pcRNG
	Random number generator. More...
bool	m_bAddNoise
	Whether to add noise or not. More...
CRange< Real >	m_cNoiseRange
	Noise range. More...
CSpace &	m_cSpace
	Reference to the space. More...
Protected Attributes inherited from argos::CCI_LightSensor
std::vector< Real >	m_tReadings

Additional Inherited Members
Public Types inherited from argos::CCI_Sensor
typedef std::map< std::string, CCI_Sensor *, std::less< std::string > >	TMap

Detailed Description

Definition at line 26 of file light_default_sensor.h.

Constructor & Destructor Documentation

argos::CLightDefaultSensor::CLightDefaultSensor

(

)

Definition at line 25 of file light_default_sensor.cpp.

virtual argos::CLightDefaultSensor::~CLightDefaultSensor ( )

inlinevirtual

Definition at line 33 of file light_default_sensor.h.

Member Function Documentation

Real argos::CLightDefaultSensor::CalculateReading ( Real  f_distance, Real  f_intensity  )

virtual

Calculates the light reading resulting from a light source at the given distance.

Denoting the intensity with i and the distance x, this function calculates i = (I / x)^2. I is the reference intensity of the light, that is, the distance at which the light reading saturates. It is dependent on the light entity being considered.

Parameters

f_distance	The distance of the considered light source.
f_intensity	The reference intensity of the considered light source.

Returns

A value in the range [0:1], where 0 means that the light is too far to be sensed, and 1 means the light is so close that it saturates the sensor.

Definition at line 159 of file light_default_sensor.cpp.

void argos::CLightDefaultSensor::Init ( TConfigurationNode &  t_node )

virtual

Initializes the sensor from the XML configuration tree.

The default implementation of this method does nothing.

Parameters

t_node

The XML configuration tree relative to this sensor.

See also

Reset()

Destroy()

Reimplemented from argos::CCI_Sensor.

Definition at line 48 of file light_default_sensor.cpp.

void argos::CLightDefaultSensor::Reset ( )

virtual

Resets the sensor to the state it had just after Init().

The default implementation of this method does nothing.

See also

Init()

Destroy()

Reimplemented from argos::CCI_Sensor.

Definition at line 150 of file light_default_sensor.cpp.

void argos::CLightDefaultSensor::SetRobot ( CComposableEntity &  c_entity )

virtual

Sets the entity associated to this sensor.

When a controller is created, all the sensors and actuators are created, too. This function is called right before the Init() method of the sensor is called.

Parameters

c_entity

The entity to associate to this sensor.

See also

CComposableEntity

CControllableEntity::SetController()

CCI_Sensor::Init()

Implements argos::CSimulatedSensor.

Definition at line 34 of file light_default_sensor.cpp.

void argos::CLightDefaultSensor::Update ( )

virtual

Updates the state of the entity associated to this sensor.

Implements argos::CSimulatedSensor.

Definition at line 74 of file light_default_sensor.cpp.

Member Data Documentation

bool argos::CLightDefaultSensor::m_bAddNoise

protected

Whether to add noise or not.

Definition at line 69 of file light_default_sensor.h.

bool argos::CLightDefaultSensor::m_bShowRays

protected

Flag to show rays in the simulator.

Definition at line 63 of file light_default_sensor.h.

CRange<Real> argos::CLightDefaultSensor::m_cNoiseRange

protected

Noise range.

Definition at line 72 of file light_default_sensor.h.

CSpace& argos::CLightDefaultSensor::m_cSpace

protected

Reference to the space.

Definition at line 75 of file light_default_sensor.h.

CControllableEntity* argos::CLightDefaultSensor::m_pcControllableEntity

protected

Reference to controllable entity associated to this sensor.

Definition at line 60 of file light_default_sensor.h.

CLightSensorEquippedEntity* argos::CLightDefaultSensor::m_pcLightEntity

protected

Reference to light sensor equipped entity associated to this sensor.

Definition at line 57 of file light_default_sensor.h.

CRandom::CRNG* argos::CLightDefaultSensor::m_pcRNG

protected

Random number generator.

Definition at line 66 of file light_default_sensor.h.