eyebot_entity.cpp
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1 
7 #include "eyebot_entity.h"
8 
9 #include <argos3/core/simulator/space/space.h>
10 #include <argos3/core/simulator/entity/controllable_entity.h>
11 #include <argos3/core/simulator/entity/embodied_entity.h>
12 #include <argos3/plugins/simulator/entities/led_equipped_entity.h>
13 #include <argos3/plugins/simulator/entities/light_sensor_equipped_entity.h>
14 #include <argos3/plugins/simulator/entities/perspective_camera_equipped_entity.h>
15 #include <argos3/plugins/simulator/entities/proximity_sensor_equipped_entity.h>
16 #include <argos3/plugins/simulator/entities/quadrotor_entity.h>
17 #include <argos3/plugins/simulator/entities/rab_equipped_entity.h>
18 #include <argos3/plugins/simulator/entities/battery_equipped_entity.h>
19 
20 namespace argos {
21 
22  /****************************************/
23  /****************************************/
24 
25  static const Real BODY_HEIGHT = 0.566f;
26  static const Real BODY_RADIUS = 0.25f;
27  static const Real LED_RING_RADIUS = BODY_RADIUS + 0.005;
28  static const Real LED_LOWER_RING_ELEVATION = 0.1535f;
29  static const Real LED_UPPER_RING_ELEVATION = 0.1635f;
30  static const CRadians LED_ANGLE_SLICE = CRadians(3.14159265358979323846264338327950288 / 8.0);
31  static const CRadians HALF_LED_ANGLE_SLICE = LED_ANGLE_SLICE * 0.5f;
32  static const Real PROXIMITY_SENSOR_RING_ELEVATION = LED_UPPER_RING_ELEVATION;
33  static const Real PROXIMITY_SENSOR_RING_RADIUS = LED_RING_RADIUS;
34  static const CRadians PROXIMITY_SENSOR_RING_START_ANGLE = CRadians((ARGOS_PI / 12.0f) * 0.5f);
35  static const Real PROXIMITY_SENSOR_RING_RANGE = 3.0f;
36 
37  /****************************************/
38  /****************************************/
39 
41  CComposableEntity(NULL),
42  m_pcControllableEntity(NULL),
43  m_pcEmbodiedEntity(NULL),
44  m_pcLEDEquippedEntity(NULL),
45  m_pcLightSensorEquippedEntity(NULL),
46  m_pcPerspectiveCameraEquippedEntity(NULL),
47  m_pcProximitySensorEquippedEntity(NULL),
48  m_pcQuadRotorEntity(NULL),
49  m_pcRABEquippedEntity(NULL),
50  m_pcBatteryEquippedEntity(NULL) {
51  }
52 
53  /****************************************/
54  /****************************************/
55 
56  CEyeBotEntity::CEyeBotEntity(const std::string& str_id,
57  const std::string& str_controller_id,
58  const CVector3& c_position,
59  const CQuaternion& c_orientation,
60  Real f_rab_range,
61  size_t un_rab_data_size,
62  const std::string& str_bat_model,
63  const CRadians& c_perspcam_aperture,
64  Real f_perspcam_focal_length,
65  Real f_perspcam_range) :
66  CComposableEntity(NULL, str_id),
67  m_pcControllableEntity(NULL),
68  m_pcEmbodiedEntity(NULL),
69  m_pcLEDEquippedEntity(NULL),
70  m_pcLightSensorEquippedEntity(NULL),
71  m_pcPerspectiveCameraEquippedEntity(NULL),
72  m_pcProximitySensorEquippedEntity(NULL),
73  m_pcQuadRotorEntity(NULL),
74  m_pcRABEquippedEntity(NULL),
75  m_pcBatteryEquippedEntity(NULL) {
76  try {
77  /*
78  * Create and init components
79  */
80  /*
81  * Embodied entity
82  * Better to put this first, because many other entities need this one
83  */
84  m_pcEmbodiedEntity = new CEmbodiedEntity(this, "body_0", c_position, c_orientation);
85  AddComponent(*m_pcEmbodiedEntity);
86  /* Quadrotor entity */
87  m_pcQuadRotorEntity = new CQuadRotorEntity(this, "quadrotor_0");
88  AddComponent(*m_pcQuadRotorEntity);
89  /* LED equipped entity, with LEDs [0-11] and beacon [12] */
90  m_pcLEDEquippedEntity = new CLEDEquippedEntity(this, "leds_0");
91  m_pcLEDEquippedEntity->AddLEDRing(
92  CVector3(0.0f, 0.0f, LED_LOWER_RING_ELEVATION),
93  LED_RING_RADIUS,
94  HALF_LED_ANGLE_SLICE,
95  16,
96  m_pcEmbodiedEntity->GetOriginAnchor());
97  m_pcLEDEquippedEntity->AddLEDRing(
98  CVector3(0.0f, 0.0f, LED_UPPER_RING_ELEVATION),
99  LED_RING_RADIUS,
100  HALF_LED_ANGLE_SLICE,
101  16,
102  m_pcEmbodiedEntity->GetOriginAnchor());
103  CVector3 cLEDPos(LED_RING_RADIUS * 0.7f,
104  0.0f,
105  LED_LOWER_RING_ELEVATION - 0.01f);
106  cLEDPos.RotateZ(3.0f * CRadians::PI_OVER_FOUR);
107  m_pcLEDEquippedEntity->AddLED(
108  cLEDPos,
109  m_pcEmbodiedEntity->GetOriginAnchor());
110  AddComponent(*m_pcLEDEquippedEntity);
111  /* Proximity sensor equipped entity */
112  m_pcProximitySensorEquippedEntity =
114  "proximity_0");
115  AddComponent(*m_pcProximitySensorEquippedEntity);
116  m_pcProximitySensorEquippedEntity->AddSensorRing(
117  CVector3(0.0f, 0.0f, PROXIMITY_SENSOR_RING_ELEVATION),
118  PROXIMITY_SENSOR_RING_RADIUS,
119  PROXIMITY_SENSOR_RING_START_ANGLE,
120  PROXIMITY_SENSOR_RING_RANGE,
121  24,
122  m_pcEmbodiedEntity->GetOriginAnchor());
123  /* Light sensor equipped entity */
124  m_pcLightSensorEquippedEntity =
126  "light_0");
127  AddComponent(*m_pcLightSensorEquippedEntity);
128  m_pcLightSensorEquippedEntity->AddSensorRing(
129  CVector3(0.0f, 0.0f, PROXIMITY_SENSOR_RING_ELEVATION),
130  PROXIMITY_SENSOR_RING_RADIUS,
131  PROXIMITY_SENSOR_RING_START_ANGLE,
132  PROXIMITY_SENSOR_RING_RANGE,
133  24,
134  m_pcEmbodiedEntity->GetOriginAnchor());
135  /* RAB equipped entity */
136  m_pcRABEquippedEntity = new CRABEquippedEntity(
137  this,
138  "rab_0",
139  un_rab_data_size,
140  f_rab_range,
141  m_pcEmbodiedEntity->GetOriginAnchor(),
142  *m_pcEmbodiedEntity);
143  AddComponent(*m_pcRABEquippedEntity);
144  /* Perspective camera equipped entity */
146  SAnchor& cPerspCamAnchor = m_pcEmbodiedEntity->AddAnchor("perspective_camera",
147  CVector3(0.0, 0.0, 0.0),
148  cPerspCamOrient);
149  m_pcPerspectiveCameraEquippedEntity =
151  "perspective_camera_0",
152  c_perspcam_aperture,
153  f_perspcam_focal_length,
154  f_perspcam_range,
155  640, 480,
156  cPerspCamAnchor);
157  AddComponent(*m_pcPerspectiveCameraEquippedEntity);
158  /* Battery senesor equipped entity */
159  m_pcBatteryEquippedEntity = new CBatteryEquippedEntity(this, "battery_0", str_bat_model);
160  AddComponent(*m_pcBatteryEquippedEntity);
161  /* Controllable entity
162  It must be the last one, for actuators/sensors to link to composing entities correctly */
163  m_pcControllableEntity = new CControllableEntity(this, "controller_0");
164  AddComponent(*m_pcControllableEntity);
165  m_pcControllableEntity->SetController(str_controller_id);
166  /* Update components */
168  }
169  catch(CARGoSException& ex) {
170  THROW_ARGOSEXCEPTION_NESTED("Failed to initialize entity \"" << GetId() << "\".", ex);
171  }
172  }
173 
174  /****************************************/
175  /****************************************/
176 
178  try {
179  /*
180  * Init parent
181  */
182  CComposableEntity::Init(t_tree);
183  /*
184  * Create and init components
185  */
186  /*
187  * Embodied entity
188  * Better to put this first, because many other entities need this one
189  */
190  m_pcEmbodiedEntity = new CEmbodiedEntity(this);
191  AddComponent(*m_pcEmbodiedEntity);
192  m_pcEmbodiedEntity->Init(GetNode(t_tree, "body"));
193  /* Quadrotor entity */
194  m_pcQuadRotorEntity = new CQuadRotorEntity(this, "quadrotor_0");
195  AddComponent(*m_pcQuadRotorEntity);
196  /* LED equipped entity, with LEDs [0-11] and beacon [12] */
197  m_pcLEDEquippedEntity = new CLEDEquippedEntity(this, "leds_0");
198  m_pcLEDEquippedEntity->AddLEDRing(
199  CVector3(0.0f, 0.0f, LED_LOWER_RING_ELEVATION),
200  LED_RING_RADIUS,
201  HALF_LED_ANGLE_SLICE,
202  16,
203  m_pcEmbodiedEntity->GetOriginAnchor());
204  m_pcLEDEquippedEntity->AddLEDRing(
205  CVector3(0.0f, 0.0f, LED_UPPER_RING_ELEVATION),
206  LED_RING_RADIUS,
207  HALF_LED_ANGLE_SLICE,
208  16,
209  m_pcEmbodiedEntity->GetOriginAnchor());
210  CVector3 cLEDPos(LED_RING_RADIUS * 0.7f,
211  0.0f,
212  LED_LOWER_RING_ELEVATION - 0.01f);
213  cLEDPos.RotateZ(3.0f * CRadians::PI_OVER_FOUR);
214  m_pcLEDEquippedEntity->AddLED(
215  cLEDPos,
216  m_pcEmbodiedEntity->GetOriginAnchor());
217  AddComponent(*m_pcLEDEquippedEntity);
218  /* Proximity sensor equipped entity */
219  m_pcProximitySensorEquippedEntity =
221  "proximity_0");
222  AddComponent(*m_pcProximitySensorEquippedEntity);
223  m_pcProximitySensorEquippedEntity->AddSensorRing(
224  CVector3(0.0f, 0.0f, PROXIMITY_SENSOR_RING_ELEVATION),
225  PROXIMITY_SENSOR_RING_RADIUS,
226  PROXIMITY_SENSOR_RING_START_ANGLE,
227  PROXIMITY_SENSOR_RING_RANGE,
228  24,
229  m_pcEmbodiedEntity->GetOriginAnchor());
230  /* Light sensor equipped entity */
231  m_pcLightSensorEquippedEntity =
233  "light_0");
234  AddComponent(*m_pcLightSensorEquippedEntity);
235  m_pcLightSensorEquippedEntity->AddSensorRing(
236  CVector3(0.0f, 0.0f, PROXIMITY_SENSOR_RING_ELEVATION),
237  PROXIMITY_SENSOR_RING_RADIUS,
238  PROXIMITY_SENSOR_RING_START_ANGLE,
239  PROXIMITY_SENSOR_RING_RANGE,
240  24,
241  m_pcEmbodiedEntity->GetOriginAnchor());
242  /* RAB equipped entity */
243  Real fRange = 3.0f;
244  GetNodeAttributeOrDefault(t_tree, "rab_range", fRange, fRange);
245  UInt32 unDataSize = 10;
246  GetNodeAttributeOrDefault(t_tree, "rab_data_size", unDataSize, unDataSize);
247  m_pcRABEquippedEntity = new CRABEquippedEntity(
248  this,
249  "rab_0",
250  unDataSize,
251  fRange,
252  m_pcEmbodiedEntity->GetOriginAnchor(),
253  *m_pcEmbodiedEntity);
254  AddComponent(*m_pcRABEquippedEntity);
255  /* Perspective camera equipped entity */
256  bool bPerspCamFront = true;
257  GetNodeAttributeOrDefault(t_tree, "camera_front", bPerspCamFront, bPerspCamFront);
258  Real fPerspCamFocalLength = 0.035;
259  GetNodeAttributeOrDefault(t_tree, "camera_focal_length", fPerspCamFocalLength, fPerspCamFocalLength);
260  Real fPerspCamRange = 2.0;
261  GetNodeAttributeOrDefault(t_tree, "camera_range", fPerspCamRange, fPerspCamRange);
262  CDegrees cAperture(30.0f);
263  GetNodeAttributeOrDefault(t_tree, "camera_aperture", cAperture, cAperture);
265  SAnchor& cPerspCamAnchor = m_pcEmbodiedEntity->AddAnchor("perspective_camera",
266  CVector3(0.0, 0.0, 0.0),
267  cPerspCamOrient);
268  m_pcPerspectiveCameraEquippedEntity =
270  "perspective_camera_0",
271  ToRadians(cAperture),
272  fPerspCamFocalLength,
273  fPerspCamRange,
274  640, 480,
275  cPerspCamAnchor);
276  AddComponent(*m_pcPerspectiveCameraEquippedEntity);
277  /* Battery equipped entity */
278  m_pcBatteryEquippedEntity = new CBatteryEquippedEntity(this, "battery_0");
279  if(NodeExists(t_tree, "battery"))
280  m_pcBatteryEquippedEntity->Init(GetNode(t_tree, "battery"));
281  AddComponent(*m_pcBatteryEquippedEntity);
282  /* Controllable entity
283  It must be the last one, for actuators/sensors to link to composing entities correctly */
284  m_pcControllableEntity = new CControllableEntity(this);
285  AddComponent(*m_pcControllableEntity);
286  m_pcControllableEntity->Init(GetNode(t_tree, "controller"));
287  /* Update components */
289  }
290  catch(CARGoSException& ex) {
291  THROW_ARGOSEXCEPTION_NESTED("Failed to initialize entity \"" << GetId() << "\".", ex);
292  }
293  }
294 
295  /****************************************/
296  /****************************************/
297 
299  /* Reset all components */
301  /* Update components */
303  }
304 
305  /****************************************/
306  /****************************************/
307 
308 #define UPDATE(COMPONENT) if(COMPONENT->IsEnabled()) COMPONENT->Update();
309 
311  UPDATE(m_pcRABEquippedEntity);
312  UPDATE(m_pcLEDEquippedEntity);
313  UPDATE(m_pcBatteryEquippedEntity);
314  }
315 
316  /****************************************/
317  /****************************************/
318 
320  "eye-bot",
321  "Carlo Pinciroli [ilpincy@gmail.com]",
322  "1.0",
323  "The eye-bot robot, developed in the Swarmanoid project.",
324  "The eye-bot is a quad-rotor developed in the Swarmanoid Project. It is a\n"
325  "fully autonomous robot with a rich set of sensors and actuators. For more\n"
326  "information, refer to the dedicated web page\n"
327  "(http://www.swarmanoid.org/swarmanoid_hardware.php).\n\n"
328  "REQUIRED XML CONFIGURATION\n\n"
329  " <arena ...>\n"
330  " ...\n"
331  " <eye-bot id=\"eb0\">\n"
332  " <body position=\"0.4,2.3,0.25\" orientation=\"45,0,0\" />\n"
333  " <controller config=\"mycntrl\" />\n"
334  " </eye-bot>\n"
335  " ...\n"
336  " </arena>\n\n"
337  "The 'id' attribute is necessary and must be unique among the entities. If two\n"
338  "entities share the same id, initialization aborts.\n"
339  "The 'body/position' attribute specifies the position of the bottom point of the\n"
340  "eye-bot in the arena. When the robot is untranslated and unrotated, the\n"
341  "bottom point is in the origin and it is defined as the middle point between\n"
342  "the two wheels on the XY plane and the lowest point of the robot on the Z\n"
343  "axis, that is the point where the wheels touch the floor. The attribute values\n"
344  "are in the X,Y,Z order.\n"
345  "The 'body/orientation' attribute specifies the orientation of the eye-bot. All\n"
346  "rotations are performed with respect to the bottom point. The order of the\n"
347  "angles is Z,Y,X, which means that the first number corresponds to the rotation\n"
348  "around the Z axis, the second around Y and the last around X. This reflects\n"
349  "the internal convention used in ARGoS, in which rotations are performed in\n"
350  "that order. Angles are expressed in degrees. When the robot is unrotated, it\n"
351  "is oriented along the X axis.\n"
352  "The 'controller/config' attribute is used to assign a controller to the\n"
353  "eye-bot. The value of the attribute must be set to the id of a previously\n"
354  "defined controller. Controllers are defined in the <controllers> XML subtree.\n\n"
355  "OPTIONAL XML CONFIGURATION\n\n"
356  "You can set the emission range of the range-and-bearing system. By default, a\n"
357  "message sent by an eye-bot can be received up to 3m. By using the 'rab_range'\n"
358  "attribute, you can change it to, i.e., 4m as follows:\n\n"
359  " <arena ...>\n"
360  " ...\n"
361  " <eye-bot id=\"eb0\" rab_range=\"4\">\n"
362  " <body position=\"0.4,2.3,0.25\" orientation=\"45,0,0\" />\n"
363  " <controller config=\"mycntrl\" />\n"
364  " </eye-bot>\n"
365  " ...\n"
366  " </arena>\n\n"
367  "You can also set the data sent at each time step through the range-and-bearing\n"
368  "system. By default, a message sent by a eye-bot is 10 bytes long. By using the\n"
369  "'rab_data_size' attribute, you can change it to, i.e., 20 bytes as follows:\n\n"
370  " <arena ...>\n"
371  " ...\n"
372  " <eye-bot id=\"eb0\" rab_data_size=\"20\">\n"
373  " <body position=\"0.4,2.3,0.25\" orientation=\"45,0,0\" />\n"
374  " <controller config=\"mycntrl\" />\n"
375  " </eye-bot>\n"
376  " ...\n"
377  " </arena>\n\n"
378  "You can also configure the battery of the robot. By default, the battery never\n"
379  "depletes. You can choose among several battery discharge models, such as\n"
380  "- time: the battery depletes by a fixed amount at each time step\n"
381  "- motion: the battery depletes according to how the robot moves\n"
382  "- time_motion: a combination of the above models.\n"
383  "You can define your own models too. Follow the examples in the file\n"
384  "argos3/src/plugins/simulator/entities/battery_equipped_entity.cpp.\n\n"
385  " <arena ...>\n"
386  " ...\n"
387  " <eye-bot id=\"eb0\"\n"
388  " <body position=\"0.4,2.3,0.25\" orientation=\"45,0,0\" />\n"
389  " <controller config=\"mycntrl\" />\n"
390  " <battery model=\"time\" factor=\"1e-5\"/>\n"
391  " </eye-bot>\n"
392  " ...\n"
393  " </arena>\n\n"
394  " <arena ...>\n"
395  " ...\n"
396  " <eye-bot id=\"eb0\"\n"
397  " <body position=\"0.4,2.3,0.25\" orientation=\"45,0,0\" />\n"
398  " <controller config=\"mycntrl\" />\n"
399  " <battery model=\"motion\" pos_factor=\"1e-3\"\n"
400  " orient_factor=\"1e-3\"/>\n"
401  " </eye-bot>\n"
402  " ...\n"
403  " </arena>\n\n"
404  " <arena ...>\n"
405  " ...\n"
406  " <eye-bot id=\"eb0\"\n"
407  " <body position=\"0.4,2.3,0.25\" orientation=\"45,0,0\" />\n"
408  " <controller config=\"mycntrl\" />\n"
409  " <battery model=\"time_motion\" time_factor=\"1e-5\"\n"
410  " pos_factor=\"1e-3\"\n"
411  " orient_factor=\"1e-3\"/>\n"
412  " </eye-bot>\n"
413  " ...\n"
414  " </arena>\n\n"
415  "Finally, you can change the parameters of the camera. You can set its aperture,\n"
416  "focal length, and range with the attributes 'camera_aperture',\n"
417  "'camera_focal_length', and 'camera_range', respectively. The default values are:\n"
418  "30 degrees for aperture, 0.035 for focal length, and 2 meters for range. Check\n"
419  "the following example:\n\n"
420  " <arena ...>\n"
421  " ...\n"
422  " <eye-bot id=\"eb0\"\n"
423  " camera_aperture=\"45\"\n"
424  " camera_focal_length=\"0.07\"\n"
425  " camera_range=\"10\">\n"
426  " <body position=\"0.4,2.3,0.25\" orientation=\"45,0,0\" />\n"
427  " <controller config=\"mycntrl\" />\n"
428  " </eye-bot>\n"
429  " ...\n"
430  " </arena>\n\n"
431  ,
432  "Usable"
433  );
434 
435  /****************************************/
436  /****************************************/
437 
439 
440  /****************************************/
441  /****************************************/
442 
443 }
An entity that contains a pointer to the user-defined controller.
A 3D vector class.
Definition: vector3.h:29
void GetNodeAttributeOrDefault(TConfigurationNode &t_node, const std::string &str_attribute, T &t_buffer, const T &t_default)
Returns the value of a node's attribute, or the passed default value.
CVector3 & RotateZ(const CRadians &c_angle)
Rotates this vector wrt the z axis.
Definition: vector3.h:265
float Real
Collects all ARGoS code.
Definition: datatypes.h:39
void AddLED(const CVector3 &c_offset, SAnchor &s_anchor, const CColor &c_color=CColor::BLACK)
Adds an LED to this entity.
void AddLEDRing(const CVector3 &c_center, Real f_radius, const CRadians &c_start_angle, UInt32 un_num_leds, SAnchor &s_anchor, const CColor &c_color=CColor::BLACK)
Adds a ring of LEDs to this entity.
TConfigurationNode & GetNode(TConfigurationNode &t_node, const std::string &str_tag)
Given a tree root node, returns the first of its child nodes with the wanted name.
virtual void Init(TConfigurationNode &t_tree)
Initializes the state of the entity from the XML configuration tree.
ticpp::Element TConfigurationNode
The ARGoS configuration XML node.
REGISTER_ENTITY(CFloorEntity,"floor","Carlo Pinciroli [ilpincy@gmail.com]","1.0","It contains the properties of the arena floor.","The floor entity contains the properties of the arena floor. In the current\n""implementation, it contains only the color of the floor. The floor color is\n""detected by the robots' ground sensors.\n\n""REQUIRED XML CONFIGURATION\n\n"" <arena ...>\n"" ...\n"" <floor id=\"floor\"\n"" source=\"SOURCE\" />\n"" ...\n"" </arena>\n\n""The 'id' attribute is necessary and must be unique among the entities. If two\n""entities share the same id, initialization aborts.\n""The 'source' attribute specifies where to get the color of the floor from. Its\n""value, here denoted as SOURCE, can assume the following values:\n\n"" image The color is calculated from the passed image file\n"" loop_functions The color is calculated calling the loop functions\n\n""When 'source' is set to 'image', as showed in the following example, you have\n""to specify the image path in the additional attribute 'path':\n\n"" <arena ...>\n"" ...\n"" <floor id=\"floor\"\n"" source=\"image\"\n"" path=\"/path/to/imagefile.ext\" />\n"" ...\n"" </arena>\n\n""Many image formats are available, such as PNG, JPG, BMP, GIF and many more.\n""Refer to the FreeImage webpage for a complete list of supported image formats\n""(http://freeimage.sourceforge.net/features.html).\n\n""When 'source' is set to 'loop_functions', as showed in the following example,\n""an image is implicitly created to be used as texture for graphical\n""visualizations. The algorithm that creates the texture needs to convert from\n""meters (in the arena) to pixels (of the texture). You control how many pixels\n""per meter are used with the attribute 'pixels_per_meter'. Clearly, the higher\n""value, the higher the quality, but also the slower the algorithm and the bigger\n""the texture. The algorithm is called only once at init time, so the fact that\n""it is slow is not so important. However, the image size is limited by OpenGL.\n""Every implementation has its own limit, and you should check yours if any\n""texture-related problem arises. Now for the example:\n\n"" <arena ...>\n"" ...\n"" <floor id=\"floor\"\n"" source=\"loop_functions\"\n"" pixels_per_meter=\"100\" />\n"" ...\n"" </arena>\n\n""OPTIONAL XML CONFIGURATION\n\n""None for the time being.\n","Usable")
This entity is a link to a body in the physics engine.
#define THROW_ARGOSEXCEPTION_NESTED(message, nested)
This macro throws an ARGoS exception with the passed message and nesting the passed exception...
It defines the basic type CDegrees, used to store an angle value in degrees.
Definition: angles.h:288
It defines the basic type CRadians, used to store an angle value in radians.
Definition: angles.h:42
virtual void Init(TConfigurationNode &t_tree)
Initializes the state of the entity from the XML configuration tree.
virtual void UpdateComponents()
Calls the Update() method on all the components.
#define UPDATE(COMPONENT)
unsigned int UInt32
32-bit unsigned integer.
Definition: datatypes.h:97
void SetController(const std::string &str_controller_id)
Creates and assigns a controller with the given id.
static const CRadians PI_OVER_FOUR
Set to PI / 4.
Definition: angles.h:69
A container of CLEDEntity.
Basic class for an entity that contains other entities.
An anchor related to the body of an entity.
Definition: physics_model.h:38
void AddComponent(CEntity &c_component)
Adds a component to this composable entity.
bool NodeExists(TConfigurationNode &t_node, const std::string &str_tag)
Given a tree root node, returns true if one of its child nodes has the wanted name.
virtual void Reset()
Resets the state of the entity to whatever it was after Init() or the standalone constructor was call...
The exception that wraps all errors in ARGoS.
virtual void Init(TConfigurationNode &t_tree)
Initializes the state of the entity from the XML configuration tree.
Definition: entity.cpp:40
static const CVector3 Y
The y axis.
Definition: vector3.h:37
void AddSensorRing(const CVector3 &c_center, Real f_radius, const CRadians &c_start_angle, Real f_range, UInt32 un_num_sensors, SAnchor &s_anchor)
virtual void Init(TConfigurationNode &t_tree)
Initializes the state of the entity from the XML configuration tree.
const std::string & GetId() const
Returns the id of this entity.
Definition: entity.h:157
CRadians ToRadians(const CDegrees &c_degrees)
Converts CDegrees to CRadians.
Definition: angles.h:498
SAnchor & AddAnchor(const std::string &str_id, const CVector3 &c_rel_position=CVector3(), const CQuaternion &c_rel_orientation=CQuaternion())
Adds an anchor to the embodied entity.
REGISTER_STANDARD_SPACE_OPERATIONS_ON_COMPOSABLE(CComposableEntity)
virtual void Init(TConfigurationNode &t_tree)
Initializes the state of the entity from the XML configuration tree.
#define ARGOS_PI
To be used when initializing static variables.
Definition: angles.h:32
The namespace containing all the ARGoS related code.
Definition: ci_actuator.h:12
void AddSensorRing(const CVector3 &c_center, Real f_radius, const CRadians &c_start_angle, Real f_range, UInt32 un_num_sensors, SAnchor &s_anchor)
static const CRadians PI_OVER_TWO
Set to PI / 2.
Definition: angles.h:59
virtual void Reset()
Resets the state of the entity to whatever it was after Init() or the standalone constructor was call...
const SAnchor & GetOriginAnchor() const
Returns a const reference to the origin anchor associated to this entity.