7 #ifndef FOOTBOT_DISTANCE_SCANNER_SENSOR_H
8 #define FOOTBOT_DISTANCE_SCANNER_SENSOR_H
11 class CFootBotDistanceScannerRotZOnlySensor;
12 class CControllableEntity;
16 #include <argos3/plugins/robots/foot-bot/control_interface/ci_footbot_distance_scanner_sensor.h>
17 #include <argos3/plugins/robots/foot-bot/simulator/footbot_distance_scanner_equipped_entity.h>
18 #include <argos3/core/simulator/entity/embodied_entity.h>
19 #include <argos3/core/utility/math/rng.h>
20 #include <argos3/core/utility/math/ray3.h>
21 #include <argos3/core/simulator/sensor.h>
47 void UpdateNotRotating();
48 void UpdateRotating();
50 Real CalculateReadingForRay(
const CRay3& c_ray,
53 void CalculateRaysNotRotating();
54 void CalculateRaysRotating();
75 CRay3 m_cShortRangeRays0[6];
76 CRay3 m_cShortRangeRays2[6];
77 CRay3 m_cLongRangeRays1[6];
78 CRay3 m_cLongRangeRays3[6];
An entity that contains a pointer to the user-defined controller.
CFootBotDistanceScannerRotZOnlySensor()
float Real
Collects all ARGoS code.
virtual void Init(TConfigurationNode &t_tree)
Initializes the sensor from the XML configuration tree.
ticpp::Element TConfigurationNode
The ARGoS configuration XML node.
This entity is a link to a body in the physics engine.
The basic interface for a simulated sensor.
It defines the basic type CRadians, used to store an angle value in radians.
virtual ~CFootBotDistanceScannerRotZOnlySensor()
Basic class for an entity that contains other entities.
virtual void SetRobot(CComposableEntity &c_entity)
Sets the entity associated to this sensor.
virtual void Reset()
Resets the sensor to the state it had just after Init().
The namespace containing all the ARGoS related code.
virtual void Update()
Updates the state of the entity associated to this sensor.