differential_steering_default_sensor.cpp
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1 
7 #include <argos3/core/simulator/simulator.h>
8 #include <argos3/plugins/simulator/entities/wheeled_entity.h>
9 #include <argos3/core/simulator/entity/composable_entity.h>
10 
12 
13 namespace argos {
14 
15  /****************************************/
16  /****************************************/
17 
19  m_pcWheeledEntity(NULL),
20  m_pcRNG(NULL),
21  m_bAddNoise(false) {}
22 
23  /****************************************/
24  /****************************************/
25 
27  try {
28  m_pcWheeledEntity = &(c_entity.GetComponent<CWheeledEntity>("wheels"));
29  if(m_pcWheeledEntity->GetNumWheels() != 2) {
30  THROW_ARGOSEXCEPTION("The differential steering sensor can be associated only to a robot with 2 wheels");
31  }
36  }
37  catch(CARGoSException& ex) {
38  THROW_ARGOSEXCEPTION_NESTED("Error setting differential steering sensor to entity \"" << c_entity.GetId() << "\"", ex);
39  }
40  }
41 
42  /****************************************/
43  /****************************************/
44 
46  try {
48  /* Parse noise range */
49  GetNodeAttributeOrDefault(t_tree, "vel_noise_range", m_cVelNoiseRange, m_cVelNoiseRange);
51  if(m_cVelNoiseRange.GetSpan() != 0 ||
52  m_cDistNoiseRange.GetSpan() != 0) {
53  m_bAddNoise = true;
54  m_pcRNG = CRandom::CreateRNG("argos");
55  }
56  }
57  catch(CARGoSException& ex) {
58  THROW_ARGOSEXCEPTION_NESTED("Initialization error in default differential steering sensor", ex);
59  }
60  }
61 
62  /****************************************/
63  /****************************************/
64 
70  if(m_bAddNoise) {
75  }
76  }
77 
78  /****************************************/
79  /****************************************/
80 
86  }
87 
88  /****************************************/
89  /****************************************/
90 
92  "differential_steering", "default",
93  "Carlo Pinciroli [ilpincy@gmail.com]",
94  "1.0",
95  "A generic differential steering sensor.",
96  "This sensor returns the current position and orientation of a robot. This sensor\n"
97  "can be used with any robot, since it accesses only the body component. In\n"
98  "controllers, you must include the ci_differential_steering_sensor.h header.\n\n"
99  "REQUIRED XML CONFIGURATION\n\n"
100  " <controllers>\n"
101  " ...\n"
102  " <my_controller ...>\n"
103  " ...\n"
104  " <sensors>\n"
105  " ...\n"
106  " <differential_steering implementation=\"default\" />\n"
107  " ...\n"
108  " </sensors>\n"
109  " ...\n"
110  " </my_controller>\n"
111  " ...\n"
112  " </controllers>\n\n"
113  "OPTIONAL XML CONFIGURATION\n\n"
114  "It is possible to add uniform noise to the sensor, thus matching the\n"
115  "characteristics of a real robot better. You can add noise through the\n"
116  "attributes 'vel_noise_range' and 'dist_noise_range'.\n"
117  "Attribute 'vel_noise_range' regulates the noise range on the velocity returned\n"
118  "by the sensor. Attribute 'dist_noise_range' sets the noise range on the\n"
119  "distance covered by the wheels.\n\n"
120  " <controllers>\n"
121  " ...\n"
122  " <my_controller ...>\n"
123  " ...\n"
124  " <sensors>\n"
125  " ...\n"
126  " <differential_steering implementation=\"default\"\n"
127  " vel_noise_range=\"-0.1:0.2\"\n"
128  " dist_noise_range=\"-10.5:13.7\" />\n"
129  " ...\n"
130  " </sensors>\n"
131  " ...\n"
132  " </my_controller>\n"
133  " ...\n"
134  " </controllers>\n\n"
135  "OPTIONAL XML CONFIGURATION\n\n"
136  "None.\n",
137  "Usable"
138  );
139 
140 }
Real Distance(const CVector2 &c_v1, const CVector2 &c_v2)
Computes the distance between the passed vectors.
Definition: vector2.h:418
const Real * m_pfWheelVelocities
The wheel velocity taken from the wheeled entity.
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.
CRange< Real > m_cVelNoiseRange
Noise range on velocity.
void Enable()
Enables the entity.
Definition: entity.h:265
#define THROW_ARGOSEXCEPTION(message)
This macro throws an ARGoS exception with the passed message.
CWheeledEntity * m_pcWheeledEntity
Reference to wheeled entity associated to this sensor.
const Real * GetWheelVelocities() const
ticpp::Element TConfigurationNode
The ARGoS configuration XML node.
#define THROW_ARGOSEXCEPTION_NESTED(message, nested)
This macro throws an ARGoS exception with the passed message and nesting the passed exception...
CRange< Real > m_cDistNoiseRange
Noise range on distance.
CRadians Uniform(const CRange< CRadians > &c_range)
Returns a random value from a uniform distribution.
Definition: rng.cpp:87
Basic class for an entity that contains other entities.
virtual void Init(TConfigurationNode &t_node)
Initializes the sensor from the XML configuration tree.
Definition: ci_sensor.h:54
The exception that wraps all errors in ARGoS.
virtual void SetRobot(CComposableEntity &c_entity)
Sets the entity associated to this sensor.
static CRNG * CreateRNG(const std::string &str_category)
Creates a new RNG inside the given category.
Definition: rng.cpp:326
virtual void Update()
Updates the state of the entity associated to this sensor.
virtual void Init(TConfigurationNode &t_tree)
Initializes the sensor from the XML configuration tree.
static Real GetSimulationClockTick()
Returns the simulation clock tick.
virtual void Reset()
Resets the sensor to the state it had just after Init().
const std::string & GetId() const
Returns the id of this entity.
Definition: entity.h:157
The namespace containing all the ARGoS related code.
Definition: ci_actuator.h:12
const CVector3 & GetWheelPosition(size_t un_index) const
size_t GetNumWheels() const
T GetSpan() const
Definition: range.h:64
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")