epuck_proximity_default_sensor.cpp

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#include <argos3/core/simulator/simulator.h>
#include <argos3/core/simulator/entity/embodied_entity.h>
#include <argos3/core/simulator/entity/composable_entity.h>
#include <argos3/plugins/simulator/entities/proximity_sensor_equipped_entity.h>
 
#include "epuck_proximity_default_sensor.h"
 
namespace argos {
 
   /****************************************/
   /****************************************/
 
   static CRange<Real> UNIT(0.0f, 1.0f);
 
   /****************************************/
   /****************************************/
 
   CEPuckProximityDefaultSensor::CEPuckProximityDefaultSensor() :
      m_pcEmbodiedEntity(nullptr),
      m_bShowRays(false),
      m_pcRNG(nullptr),
      m_bAddNoise(false),
      m_cSpace(CSimulator::GetInstance().GetSpace()) {}
 
   /****************************************/
   /****************************************/
 
   void CEPuckProximityDefaultSensor::SetRobot(CComposableEntity& c_entity) {
      try {
         m_pcEmbodiedEntity = &(c_entity.GetComponent<CEmbodiedEntity>("body"));
         m_pcControllableEntity = &(c_entity.GetComponent<CControllableEntity>("controller"));
         m_pcProximityEntity = &(c_entity.GetComponent<CProximitySensorEquippedEntity>("proximity_sensors"));
         m_pcProximityEntity->Enable();
 
         /* sensor is enabled by default */
         Enable();
      }
      catch(CARGoSException& ex) {
         THROW_ARGOSEXCEPTION_NESTED("Can't set robot for the proximity default sensor", ex);
      }
   }
 
   /****************************************/
   /****************************************/
 
   void CEPuckProximityDefaultSensor::Init(TConfigurationNode& t_tree) {
      try {
         CCI_EPuckProximitySensor::Init(t_tree);
         /* Show rays? */
         GetNodeAttributeOrDefault(t_tree, "show_rays", m_bShowRays, m_bShowRays);
         /* Parse noise level */
         Real fNoiseLevel = 0.0f;
         GetNodeAttributeOrDefault(t_tree, "noise_level", fNoiseLevel, fNoiseLevel);
         if(fNoiseLevel < 0.0f) {
            THROW_ARGOSEXCEPTION("Can't specify a negative value for the noise level of the proximity sensor");
         }
         else if(fNoiseLevel > 0.0f) {
            m_bAddNoise = true;
            m_cNoiseRange.Set(-fNoiseLevel, fNoiseLevel);
            m_pcRNG = CRandom::CreateRNG("argos");
         }
      }
      catch(CARGoSException& ex) {
         THROW_ARGOSEXCEPTION_NESTED("Initialization error in default proximity sensor", ex);
      }
   }
 
   /****************************************/
   /****************************************/
   
   void CEPuckProximityDefaultSensor::Update()
   {
      /* sensor is disabled--nothing to do */
      if (IsDisabled()) {
        return;
      }
      /* Ray used for scanning the environment for obstacles */
      CRay3 cScanningRay;
      CVector3 cRayStart, cRayEnd;
      /* Buffers to contain data about the intersection */
      SEmbodiedEntityIntersectionItem sIntersection;
      /* Go through the sensors */
      for(UInt32 i = 0; i < m_tReadings.size(); ++i) {
         /* Compute ray for sensor i */
         cRayStart = m_pcProximityEntity->GetSensor(i).Offset;
         cRayStart.Rotate(m_pcProximityEntity->GetSensor(i).Anchor.Orientation);
         cRayStart += m_pcProximityEntity->GetSensor(i).Anchor.Position;
         cRayEnd = m_pcProximityEntity->GetSensor(i).Offset;
         cRayEnd += m_pcProximityEntity->GetSensor(i).Direction;
         cRayEnd.Rotate(m_pcProximityEntity->GetSensor(i).Anchor.Orientation);
         cRayEnd += m_pcProximityEntity->GetSensor(i).Anchor.Position;
         cScanningRay.Set(cRayStart,cRayEnd);
         /* Compute reading */
         /* Get the closest intersection */
         if(GetClosestEmbodiedEntityIntersectedByRay(sIntersection,
                                                     cScanningRay,
                                                     *m_pcEmbodiedEntity)) {
            /* There is an intersection */
            if(m_bShowRays) {
               m_pcControllableEntity->AddIntersectionPoint(cScanningRay,
                                                            sIntersection.TOnRay);
               m_pcControllableEntity->AddCheckedRay(true, cScanningRay);
            }
            m_tReadings[i].Value = CalculateReading(cScanningRay.GetDistance(sIntersection.TOnRay));
         }
         else {
            /* No intersection */
            m_tReadings[i].Value = 0.0f;
 
            if(m_bShowRays) {
               m_pcControllableEntity->AddCheckedRay(false, cScanningRay);
            }
         }
         /* Apply noise to the sensor */
         if(m_bAddNoise)
         {
            m_tReadings[i].Value += m_pcRNG->Uniform(m_cNoiseRange);
         }
         /* Trunc the reading between 0 and 1 */
         UNIT.TruncValue(m_tReadings[i].Value);
      }
   }
 
   /****************************************/
   /****************************************/
 
   void CEPuckProximityDefaultSensor::Reset()
   {
      for(UInt32 i = 0; i < GetReadings().size(); ++i)
         m_tReadings[i].Value = 0.0f;
   }
 
   /****************************************/
   /****************************************/
 
   Real CEPuckProximityDefaultSensor::CalculateReading(Real f_distance)
   {
      //return Exp(-f_distance);
 
      // from the e-puck model by Lorenzo Garattoni and Gianpiero Francesca
      Real value = 0.0f;
      if(f_distance <= 0.05) // less than 5cm - the IR readings drop pretty fast
      {
          value = 298.701f * pow(f_distance,2) - 36.8961f * f_distance + 1.08212f;
      }
      CRange<Real>(0.0f,1.0f).TruncValue(value);
      return value;
   }
 
   /****************************************/
   /****************************************/
 
   REGISTER_SENSOR(CEPuckProximityDefaultSensor,
                   "epuck_proximity", "default",
                   "Danesh Tarapore [daneshtarapore@gmail.com]",
                   "1.0",
                   "The E-Puck proximity sensor.",
 
                   "This sensor accesses the epuck proximity sensor. For a complete description\n"
                   "of its usage, refer to the ci_epuck_proximity_sensor.h interface. For the XML\n"
                   "configuration, refer to the default proximity sensor.\n",
 
                   "Usable"
      );
 
}