light_default_sensor.h
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1 
7 #ifndef LIGHT_DEFAULT_SENSOR_H
8 #define LIGHT_DEFAULT_SENSOR_H
9 
10 #include <string>
11 #include <map>
12 
13 namespace argos {
14  class CLightDefaultSensor;
15  class CLightSensorEquippedEntity;
16 }
17 
18 #include <argos3/plugins/robots/generic/control_interface/ci_light_sensor.h>
19 #include <argos3/core/utility/math/range.h>
20 #include <argos3/core/utility/math/rng.h>
21 #include <argos3/core/simulator/space/space.h>
22 #include <argos3/core/simulator/sensor.h>
23 
24 namespace argos {
25 
27  public CCI_LightSensor {
28 
29  public:
30 
32 
33  virtual ~CLightDefaultSensor() {}
34 
35  virtual void SetRobot(CComposableEntity& c_entity);
36 
37  virtual void Init(TConfigurationNode& t_tree);
38 
39  virtual void Update();
40 
41  virtual void Reset();
42 
52  virtual Real CalculateReading(Real f_distance, Real f_intensity);
53 
54  protected:
55 
58 
61 
64 
67 
70 
73 
76  };
77 
78 }
79 
80 #endif
The RNG.
Definition: rng.h:90
An entity that contains a pointer to the user-defined controller.
CRandom::CRNG * m_pcRNG
Random number generator.
virtual void SetRobot(CComposableEntity &c_entity)
Sets the entity associated to this sensor.
float Real
Collects all ARGoS code.
Definition: datatypes.h:39
ticpp::Element TConfigurationNode
The ARGoS configuration XML node.
virtual void Init(TConfigurationNode &t_tree)
Initializes the sensor from the XML configuration tree.
The basic interface for a simulated sensor.
Definition: sensor.h:22
CControllableEntity * m_pcControllableEntity
Reference to controllable entity associated to this sensor.
CLightSensorEquippedEntity * m_pcLightEntity
Reference to light sensor equipped entity associated to this sensor.
Basic class for an entity that contains other entities.
CRange< Real > m_cNoiseRange
Noise range.
CSpace & m_cSpace
Reference to the space.
bool m_bAddNoise
Whether to add noise or not.
bool m_bShowRays
Flag to show rays in the simulator.
virtual Real CalculateReading(Real f_distance, Real f_intensity)
Calculates the light reading resulting from a light source at the given distance. ...
The namespace containing all the ARGoS related code.
Definition: ci_actuator.h:12
virtual void Reset()
Resets the sensor to the state it had just after Init().
virtual void Update()
Updates the state of the entity associated to this sensor.