2 #include <argos3/core/simulator/simulator.h>
3 #include <argos3/core/simulator/space/positional_indices/positional_index.h>
4 #include <argos3/core/simulator/entity/composable_entity.h>
5 #include <argos3/core/simulator/entity/embodied_entity.h>
6 #include <argos3/plugins/simulator/entities/led_entity.h>
7 #include <argos3/plugins/simulator/entities/perspective_camera_equipped_entity.h>
8 #include <argos3/plugins/simulator/media/led_medium.h>
25 Real f_noise_std_dev) :
27 m_cCamEntity(c_cam_entity),
28 m_cEmbodiedEntity(c_embodied_entity),
29 m_cControllableEntity(c_controllable_entity),
30 m_bShowRays(b_show_rays),
31 m_fNoiseStdDev(f_noise_std_dev),
34 if(m_fNoiseStdDev > 0.0f) {
39 while(! m_tBlobs.empty()) {
40 delete m_tBlobs.back();
49 if(m_pcRootSensingEntity == &c_led.
GetRootEntity())
return true;
56 m_cLEDRelative.
Rotate(m_cInvCameraOrient);
58 Real fDotProd = m_cLEDRelative.
GetX();
64 if(fDotProd < m_cCamEntity.
GetRange() &&
82 (m_cLEDRelative.
GetY() -
87 (m_cLEDRelative.
GetZ() -
111 while(! m_tBlobs.empty()) {
112 delete m_tBlobs.back();
129 CEntity* m_pcRootSensingEntity;
133 CRay3 m_cOcclusionCheckRay;
144 m_pcControllableEntity(NULL),
145 m_pcEmbodiedEntity(NULL),
147 m_pcEmbodiedIndex(NULL),
179 Real fNoiseStdDev = 0.0f;
182 std::string strMedium;
212 CVector3 cCenter(fHalfRange, 0.0f, 0.0f);
216 CVector3 cCorner(fHalfRange, fHalfSide, fHalfSide);
263 "colored_blob_perspective_camera",
"default",
264 "Carlo Pinciroli [ilpincy@gmail.com]",
266 "A generic perspective camera sensor to detect colored blobs.",
267 "This sensor accesses an perspective camera that detects colored blobs. The\n"
268 "sensor returns a list of blobs, each defined by a color and a position with\n"
269 "respect to the robot reference point on the ground. In controllers, you must\n"
270 "include the ci_colored_blob_perspective_camera_sensor.h header.\n\n"
271 "REQUIRED XML CONFIGURATION\n\n"
274 " <my_controller ...>\n"
278 " <colored_blob_perspective_camera implementation=\"default\"\n"
279 " medium=\"leds\" />\n"
283 " </my_controller>\n"
285 " </controllers>\n\n"
286 "The 'medium' attribute must be set to the id of the leds medium declared in the\n"
287 "<media> section.\n\n"
288 "OPTIONAL XML CONFIGURATION\n\n"
289 "It is possible to draw the rays shot by the camera sensor in the OpenGL\n"
290 "visualization. This can be useful for sensor debugging but also to understand\n"
291 "what's wrong in your controller. In OpenGL, the rays are drawn in cyan when\n"
292 "they are not obstructed and in purple when they are. In case a ray is\n"
293 "obstructed, a black dot is drawn where the intersection occurred.\n"
294 "To turn this functionality on, add the attribute \"show_rays\" as in this\n"
298 " <my_controller ...>\n"
302 " <colored_blob_perspective_camera implementation=\"default\"\n"
303 " medium=\"leds\" />\n"
304 " show_rays=\"true\" />\n"
308 " </my_controller>\n"
310 " </controllers>\n\n"
311 "It is possible to add uniform noise to the blobs, thus matching the\n"
312 "characteristics of a real robot better. This can be done with the attribute\n"
313 "\"noise_std_dev\".\n\n"
316 " <my_controller ...>\n"
320 " <colored_blob_perspective_camera implementation=\"default\"\n"
321 " medium=\"leds\" />\n"
322 " noise_std_dev=\"0.1\" />\n"
326 " </my_controller>\n"
CColoredBlobPerspectiveCameraDefaultSensor()
signed int SInt32
32-bit signed integer.
An entity that contains a pointer to the user-defined controller.
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.
Real GetRange() const
Returns the range of the camera.
virtual void Update()
Updates the state of the entity associated to this sensor.
float Real
Collects all ARGoS code.
CPositionalIndex< CLEDEntity > * m_pcLEDIndex
Real GetX() const
Returns the x coordinate of this vector.
CVector3 & Rotate(const CQuaternion &c_quaternion)
Rotates this vector by the given quaternion.
T Abs(const T &t_v)
Returns the absolute value of the passed argument.
Real GetY() const
Returns the y coordinate of this vector.
Real GetFocalLength() const
Returns the focal length of the camera.
A data structure that contains positional entities.
const CColor & GetColor() const
Returns the current color of the LED.
CQuaternion Orientation
The orientation of the anchor wrt the global coordinate system.
ticpp::Element TConfigurationNode
The ARGoS configuration XML node.
virtual bool operator()(CLEDEntity &c_led)
std::vector< SBlob * > TBlobList
Vector of pointers to colored blobs.
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...
const CVector3 & GetPosition() const
It defines the basic type CRadians, used to store an angle value in radians.
SInt32 GetImagePxHeight() const
Returns the image height in pixel.
CEntity & GetRootEntity()
Returns the root entity containing this entity.
virtual void Disable()
Disables image acquisition and processing.
Real Length() const
Returns the length of this vector.
An SBlob represents a generic colored 2D segment in the image.
void SetEnd(const CVector3 &c_end)
virtual void Enable()
Enables image acquisition and processing.
Real GetImageMtWidth() const
Returns the image width in meters.
CPerspectiveCameraLEDCheckOperation * m_pcOperation
Basic class for an entity that contains other entities.
Real GetImageMtHeight() const
Returns the image height in meters.
virtual void Destroy()
Destroys the sensor.
CPerspectiveCameraEquippedEntity * m_pcCamEntity
virtual void Init(TConfigurationNode &t_node)
Initializes the sensor from the XML configuration tree.
CQuaternion Inverse() const
Real Tan(const CRadians &c_radians)
Computes the tangent of the passed value in radians.
void GetNodeAttribute(TConfigurationNode &t_node, const std::string &str_attribute, T &t_buffer)
Returns the value of a node's attribute.
void SetStart(const CVector3 &c_start)
The exception that wraps all errors in ARGoS.
virtual void SetRobot(CComposableEntity &c_entity)
Sets the entity associated to this sensor.
const SAnchor & GetAnchor() const
Returns the offset of the camera with respect to the reference point.
bool GetClosestEmbodiedEntityIntersectedByRay(SEmbodiedEntityIntersectionItem &s_item, const CRay3 &c_ray)
Returns the closest intersection with an embodied entity to the ray start.
CEmbodiedEntity * m_pcEmbodiedEntity
virtual ~CPerspectiveCameraLEDCheckOperation()
SInt32 GetImagePxWidth() const
Returns the image width in pixel.
T & GetMedium(const std::string &str_id)
Returns a reference to a medium.
virtual void Reset()
Resets the sensor to the state it had just after Init().
CVector3 Position
The position of the anchor wrt the global coordinate system.
static CRNG * CreateRNG(const std::string &str_category)
Creates a new RNG inside the given category.
virtual ~CColoredBlobPerspectiveCameraDefaultSensor()
CControllableEntity * m_pcControllableEntity
void AddCheckedRay(bool b_obstructed, const CRay3 &c_ray)
Adds a ray to the list of checked rays.
const CRadians & GetAperture() const
Returns the aperture of the visibility cone of the camera.
The namespace containing all the ARGoS related code.
Real GetZ() const
Returns the z coordinate of this vector.
CPerspectiveCameraLEDCheckOperation(CCI_ColoredBlobPerspectiveCameraSensor::TBlobList &t_blobs, CPerspectiveCameraEquippedEntity &c_cam_entity, CEmbodiedEntity &c_embodied_entity, CControllableEntity &c_controllable_entity, bool b_show_rays, Real f_noise_std_dev)
virtual void Init(TConfigurationNode &t_tree)
Initializes the sensor from the XML configuration tree.
CRadians ACos(Real f_value)
Computes the arccosine of the passed value.
CVector3 & Normalize()
Normalizes this vector.
static CSimulator & GetInstance()
Returns the instance to the CSimulator class.
CEntity & GetComponent(const std::string &str_component)
Returns the component with the passed string label.
REGISTER_SENSOR(CEyeBotLightRotZOnlySensor,"eyebot_light","rot_z_only","Carlo Pinciroli [ilpincy@gmail.com]","1.0","The eye-bot light sensor (optimized for 2D).","This sensor accesses a set of light sensors. The sensors all return a value\n""between 0 and 1, where 0 means nothing within range and 1 means the perceived\n""light saturates the sensor. Values between 0 and 1 depend on the distance of\n""the perceived light. Each reading R is calculated with R=(I/x)^2, where x is the\n""distance between a sensor and the light, and I is the reference intensity of the\n""perceived light. The reference intensity corresponds to the minimum distance at\n""which the light saturates a sensor. The reference intensity depends on the\n""individual light, and it is set with the \"intensity\" attribute of the light\n""entity. In case multiple lights are present in the environment, each sensor\n""reading is calculated as the sum of the individual readings due to each light.\n""In other words, light wave interference is not taken into account. In\n""controllers, you must include the ci_light_sensor.h header.\n\n""REQUIRED XML CONFIGURATION\n\n"" <controllers>\n"" ...\n"" <my_controller ...>\n"" ...\n"" <sensors>\n"" ...\n"" <eyebot_light implementation=\"rot_z_only\" />\n"" ...\n"" </sensors>\n"" ...\n"" </my_controller>\n"" ...\n"" </controllers>\n\n""OPTIONAL XML CONFIGURATION\n\n""It is possible to draw the rays shot by the light sensor in the OpenGL\n""visualization. This can be useful for sensor debugging but also to understand\n""what's wrong in your controller. In OpenGL, the rays are drawn in cyan when\n""they are not obstructed and in purple when they are. In case a ray is\n""obstructed, a black dot is drawn where the intersection occurred.\n""To turn this functionality on, add the attribute \"show_rays\" as in this\n""example:\n\n"" <controllers>\n"" ...\n"" <my_controller ...>\n"" ...\n"" <sensors>\n"" ...\n"" <eyebot_light implementation=\"rot_z_only\"\n"" show_rays=\"true\" />\n"" ...\n"" </sensors>\n"" ...\n"" </my_controller>\n"" ...\n"" </controllers>\n\n""It is possible to add uniform noise to the sensors, thus matching the\n""characteristics of a real robot better. This can be done with the attribute\n""\"noise_level\", whose allowed range is in [-1,1] and is added to the calculated\n""reading. The final sensor reading is always normalized in the [0-1] range.\n\n"" <controllers>\n"" ...\n"" <my_controller ...>\n"" ...\n"" <sensors>\n"" ...\n"" <eyebot_light implementation=\"rot_z_only\"\n"" noise_level=\"0.1\" />\n"" ...\n"" </sensors>\n"" ...\n"" </my_controller>\n"" ...\n"" </controllers>\n\n""OPTIONAL XML CONFIGURATION\n\n""None.\n","Usable")