argos Namespace Reference

The namespace containing all the ARGoS related code. More...

Classes
class	CAbstractSpaceHash
	The abstract definition of a space hash. More...
class	CAny
class	CARGoSCommandLineArgParser
	The command line argument parser used by the main ARGoS executable. More...
class	CARGoSException
	The exception that wraps all errors in ARGoS. More...
class	CARGoSLog
class	CBaseConfigurableResource
	This class is the base of all XML-configurable ARGoS interface. More...
class	CBatteryDefaultSensor
class	CBatteryDischargeModel
	The discharge model dictates how the battery discharges over time. More...
class	CBatteryDischargeModelMotion
	A battery discharge model based only on motion. More...
class	CBatteryDischargeModelTime
	A battery discharge model based only on time. More...
class	CBatteryDischargeModelTimeMotion
	A battery discharge model in which the charge decreases with both time and motion. More...
class	CBatteryEquippedEntity
	The battery entity. More...
class	CBox
class	CBoxEntity
class	CByteArray
	Byte array utility class. More...
class	CCameraDefaultSensor
class	CCameraSensorDirectionalLEDDetectorAlgorithm
	This class provides the most general interface to a camera. More...
class	CCameraSensorLEDDetectorAlgorithm
	This class provides the most general interface to a camera. More...
class	CCameraSensorSimulatedAlgorithm
class	CCameraSensorTagDetectorAlgorithm
	This class provides the most general interface to a camera. More...
class	CCI_Actuator
	The basic interface for all actuators. More...
class	CCI_AltitudeSensor
class	CCI_BatterySensor
class	CCI_CameraSensor
class	CCI_CameraSensorAlgorithm
class	CCI_CameraSensorDirectionalLEDDetectorAlgorithm
class	CCI_CameraSensorLEDDetectorAlgorithm
class	CCI_CameraSensorTagDetectorAlgorithm
class	CCI_ColoredBlobOmnidirectionalCameraSensor
	This class provides the most general interface to a camera. More...
class	CCI_ColoredBlobPerspectiveCameraSensor
	This class provides the most general interface to a camera. More...
class	CCI_Controller
	The basic interface for a robot controller. More...
class	CCI_DifferentialSteeringActuator
class	CCI_DifferentialSteeringSensor
class	CCI_DirectionalLEDsActuator
class	CCI_EPuckProximitySensor
class	CCI_EyeBotLightSensor
class	CCI_EyeBotProximitySensor
class	CCI_FootBotBaseGroundSensor
class	CCI_FootBotDistanceScannerActuator
class	CCI_FootBotDistanceScannerSensor
class	CCI_FootBotEncoderSensor
class	CCI_FootBotGripperActuator
class	CCI_FootBotLightSensor
class	CCI_FootBotMotorGroundSensor
class	CCI_FootBotProximitySensor
class	CCI_FootBotTurretActuator
class	CCI_FootBotTurretEncoderSensor
class	CCI_GripperActuator
class	CCI_GroundSensor
class	CCI_LEDsActuator
class	CCI_LightSensor
class	CCI_MagnetsActuator
class	CCI_MiniQuadrotorRotorActuator
class	CCI_MiniQuadrotorTrajectoryActuator
class	CCI_PanTiltCameraActuator
class	CCI_PositioningSensor
class	CCI_PrototypeJointsActuator
class	CCI_PrototypeJointsSensor
class	CCI_ProximitySensor
class	CCI_QuadRotorPositionActuator
class	CCI_QuadRotorSpeedActuator
class	CCI_RadiosActuator
class	CCI_RadiosSensor
class	CCI_RangeAndBearingActuator
class	CCI_RangeAndBearingSensor
class	CCI_Sensor
	The basic interface for all sensors. More...
class	CCI_TagsActuator
class	CColor
	The basic color type. More...
class	CColoredBlobOmnidirectionalCameraRotZOnlySensor
class	CColoredBlobPerspectiveCameraDefaultSensor
class	CCommandLineArgParser
	Easy-to-use command line argument parser. More...
class	CComposableEntity
	Basic class for an entity that contains other entities. More...
class	CControllableEntity
	An entity that contains a pointer to the user-defined controller. More...
class	CConvexHull
class	CCylinder
class	CCylinderEntity
class	CDefaultVisualization
class	CDegrees
	It defines the basic type CDegrees, used to store an angle value in degrees. More...
class	CDifferentialSteeringDefaultActuator
class	CDifferentialSteeringDefaultSensor
class	CDirectionalLEDEntity
class	CDirectionalLEDEntityGridUpdater
class	CDirectionalLEDEntitySpaceHashUpdater
class	CDirectionalLEDEquippedEntity
	A container of CDirectionalLEDEntity. More...
class	CDirectionalLEDMedium
class	CDirectionalLEDsDefaultActuator
class	CDynamicLoading
	Allows users to dynamically load shared libraries. More...
class	CDynamics2DBoxModel
class	CDynamics2DCylinderModel
class	CDynamics2DDifferentialSteeringControl
class	CDynamics2DEngine
class	CDynamics2DEPuckModel
class	CDynamics2DFootBotModel
class	CDynamics2DGrippable
class	CDynamics2DGripper
class	CDynamics2DModel
	The base class for models in the dynamics 2D engine. More...
class	CDynamics2DMultiBodyObjectModel
	Base class for object models with multiple bodies. More...
class	CDynamics2DOperation
class	CDynamics2DOperationAddEntity
class	CDynamics2DOperationRemoveEntity
class	CDynamics2DSingleBodyObjectModel
	Base class for object models with a single body. More...
class	CDynamics2DStretchableObjectModel
	A stretchable and grippable object model for the dynamics 2D engine. More...
class	CDynamics2DVelocityControl
class	CDynamics3DBoxModel
class	CDynamics3DCylinderModel
class	CDynamics3DEngine
class	CDynamics3DEPuckModel
class	CDynamics3DFloorPlugin
class	CDynamics3DGravityPlugin
class	CDynamics3DMagnetismPlugin
class	CDynamics3DModel
class	CDynamics3DMultiBodyObjectModel
class	CDynamics3DOperation
class	CDynamics3DOperationAddEntity
class	CDynamics3DOperationRemoveEntity
class	CDynamics3DPlugin
class	CDynamics3DPrototypeModel
class	CDynamics3DShapeManager
class	CDynamics3DSingleBodyObjectModel
class	CEmbodiedEntity
	This entity is a link to a body in the physics engine. More...
class	CEmbodiedEntityGridUpdater
class	CEntity
	The basic entity type. More...
class	CEntityOperation
	The basic operation to be stored in the vtable. More...
class	CEPuckEntity
class	CEPuckProximityDefaultSensor
class	CEyeBotEntity
class	CEyeBotLightRotZOnlySensor
class	CEyeBotProximityDefaultSensor
class	CFactory
	Basic factory template. More...
class	CFloorColorFromLoopFunctions
class	CFloorEntity
class	CFootBotBaseGroundRotZOnlySensor
class	CFootBotDistanceScannerDefaultActuator
class	CFootBotDistanceScannerEquippedEntity
class	CFootBotDistanceScannerRotZOnlySensor
class	CFootBotEntity
class	CFootBotGripperDefaultActuator
class	CFootBotLightRotZOnlySensor
class	CFootBotMotorGroundRotZOnlySensor
class	CFootBotProximityDefaultSensor
class	CFootBotTurretDefaultActuator
class	CFootBotTurretEncoderDefaultSensor
class	CFootBotTurretEntity
class	CGrid
class	CGripperDefaultActuator
class	CGripperEquippedEntity
	An entity that stores the state of a robot gripper. More...
class	CGroundRotZOnlySensor
class	CGroundSensorEquippedEntity
class	CLEDEntity
class	CLEDEntityGridUpdater
class	CLEDEntitySpaceHashUpdater
class	CLEDEquippedEntity
	A container of CLEDEntity. More...
class	CLEDMedium
class	CLEDsDefaultActuator
class	CLightDefaultSensor
class	CLightEntity
class	CLightSensorEquippedEntity
class	CLoopFunctions
	A set of hook functions to customize an experimental run. More...
class	CLuaController
class	CLuaQuaternion
class	CLuaUtility
class	CLuaVector2
class	CLuaVector3
class	CMagnetEntity
class	CMagnetEquippedEntity
	A container of CMagnetEntity. More...
class	CMagnetsDefaultActuator
class	CMatrix
class	CMedium
class	CMemento
	The interface inherited by all classes whose state must be saved and restored. More...
class	CMiniQuadrotorEntity
class	CMiniQuadrotorRotorDefaultActuator
class	COmnidirectionalCameraEquippedEntity
class	COmnidirectionalCameraLEDCheckOperation
class	ConstantGenerator
class	CPerspectiveCameraEquippedEntity
class	CPerspectiveCameraLEDCheckOperation
class	CPhysicsEngine
class	CPhysicsModel
class	CPhysXEPuckModel
class	CPhysXFootBotModel
class	CPhysXMiniQuadrotorModel
class	CPlane
class	CPointMass3DBoxModel
class	CPointMass3DCylinderModel
class	CPointMass3DEngine
class	CPointMass3DEyeBotModel
class	CPointMass3DFootBotModel
class	CPointMass3DModel
class	CPointMass3DOperation
class	CPointMass3DOperationAddEntity
class	CPointMass3DOperationRemoveEntity
class	CPointMass3DQuadRotorModel
class	CPointMass3DSpiriModel
class	CPositionalEntity
class	CPositionalIndex
	A data structure that contains positional entities. More...
class	CPositioningDefaultSensor
class	CProfiler
class	CPrototypeEntity
class	CPrototypeJointEntity
class	CPrototypeJointEquippedEntity
class	CPrototypeJointsDefaultActuator
class	CPrototypeJointsDefaultSensor
class	CPrototypeLinkEntity
class	CPrototypeLinkEquippedEntity
class	CProximityDefaultSensor
class	CProximitySensorEquippedEntity
class	CProximitySensorImpl
class	CQTOpenGLApplication
class	CQTOpenGLBox
class	CQTOpenGLCamera
class	CQTOpenGLCylinder
class	CQTOpenGLEPuck
class	CQTOpenGLEyeBot
class	CQTOpenGLFootBot
class	CQTOpenGLJoystick
class	CQTOpenGLLayout
class	CQTOpenGLLight
class	CQTOpenGLLogStream
class	CQTOpenGLLuaEditor
class	CQTOpenGLLuaFindDialog
class	CQTOpenGLLuaMainWindow
class	CQTOpenGLLuaStateTreeFunctionModel
class	CQTOpenGLLuaStateTreeItem
class	CQTOpenGLLuaStateTreeModel
class	CQTOpenGLLuaStateTreeVariableModel
class	CQTOpenGLLuaSyntaxHighlighter
class	CQTOpenGLMainWindow
class	CQTOpenGLMiniQuadrotor
class	CQTOpenGLObjModel
class	CQTOpenGLOperationDrawBoxNormal
class	CQTOpenGLOperationDrawBoxSelected
class	CQTOpenGLOperationDrawCylinderNormal
class	CQTOpenGLOperationDrawCylinderSelected
class	CQTOpenGLOperationDrawEPuckNormal
class	CQTOpenGLOperationDrawEPuckSelected
class	CQTOpenGLOperationDrawEyeBotNormal
class	CQTOpenGLOperationDrawEyeBotSelected
class	CQTOpenGLOperationDrawFootBotNormal
class	CQTOpenGLOperationDrawFootBotSelected
class	CQTOpenGLOperationDrawLightNormal
class	CQTOpenGLOperationDrawLightSelected
class	CQTOpenGLOperationDrawMiniQuadrotorNormal
class	CQTOpenGLOperationDrawMiniQuadrotorSelected
class	CQTOpenGLOperationDrawNormal
class	CQTOpenGLOperationDrawPrototypeNormal
class	CQTOpenGLOperationDrawPrototypeSelected
class	CQTOpenGLOperationDrawSelected
class	CQTOpenGLOperationDrawSpiriNormal
class	CQTOpenGLOperationDrawSpiriSelected
class	CQTOpenGLPrototype
class	CQTOpenGLRender
class	CQTOpenGLUserFunctions
	The QTOpenGL user functions. More...
class	CQTOpenGLWidget
class	CQuadRotorEntity
class	CQuadRotorPositionDefaultActuator
class	CQuadRotorSpeedDefaultActuator
class	CQuaternion
class	CRABEquippedEntity
class	CRABEquippedEntityGridCellUpdater
class	CRABEquippedEntityGridEntityUpdater
class	CRABEquippedEntitySpaceHashUpdater
class	CRABMedium
class	CRadians
	It defines the basic type CRadians, used to store an angle value in radians. More...
class	CRadioEntity
class	CRadioEntityGridUpdater
class	CRadioEntitySpaceHashUpdater
class	CRadioEquippedEntity
	A container of CRadioEntity. More...
class	CRadioMedium
class	CRadiosDefaultActuator
class	CRadiosDefaultSensor
class	CRandom
	The ARGoS random number generator. More...
class	CRange
class	CRangeAndBearingDefaultActuator
class	CRangeAndBearingMediumSensor
class	CRate
class	CRay2
class	CRay3
class	CRCLowPassFilter
	A simple infinite-impulse response filter for real-valued signals. More...
class	CRealRobot
class	CRotationMatrix2
class	CRotationMatrix3
class	CRotorEquippedEntity
class	CSet
	Defines a very simple double-linked list that stores unique elements. More...
class	CSetIterator
	The CSet iterator. More...
class	CSimulatedActuator
	The basic interface for a simulated actuator. More...
class	CSimulatedSensor
	The basic interface for a simulated sensor. More...
class	CSimulator
	The core class of ARGOS. More...
class	CSpace
class	CSpaceHash
	Defines the basic space hash. More...
class	CSpaceHashNative
	A space hash implementation that does not rely on std::map or std::tr1:unordered_map. More...
class	CSpaceHashUpdater
	Defines the basic cell updater of the space hash. More...
class	CSpaceMultiThreadBalanceLength
class	CSpaceMultiThreadBalanceQuantity
class	CSpaceNoThreads
class	CSpaceOperation
class	CSpaceOperationAddCDirectionalLEDEntity
class	CSpaceOperationAddCFloorEntity
class	CSpaceOperationAddCLEDEntity
class	CSpaceOperationAddCRABEquippedEntity
class	CSpaceOperationAddCRadioEntity
class	CSpaceOperationAddCTagEntity
class	CSpaceOperationAddEntity
class	CSpaceOperationRemoveCDirectionalLEDEntity
class	CSpaceOperationRemoveCLEDEntity
class	CSpaceOperationRemoveCRABEquippedEntity
class	CSpaceOperationRemoveCRadioEntity
class	CSpaceOperationRemoveCTagEntity
class	CSpaceOperationRemoveEntity
class	CSpiriEntity
class	CSquareMatrix
class	CStats
	Calculates the mean, variance, and std deviation of a real-valued signal. More...
class	CTagEntity
class	CTagEntityGridUpdater
class	CTagEntitySpaceHashUpdater
class	CTagEquippedEntity
	A container of CTagEntity. More...
class	CTagMedium
class	CTagsDefaultActuator
class	CTCPSocket
class	CTransformationMatrix2
class	CTransformationMatrix3
class	CVector2
	A 2D vector class. More...
class	CVector3
	A 3D vector class. More...
class	CVisualization
class	CVTable
	The actual vtable. More...
class	CWheeledEntity
class	CWiFiEquippedEntity
struct	EnableVTableFor
	Helper to make a class hierarchy vtable-enabled. More...
class	GaussianGenerator
class	GridGenerator
class	RealNumberGenerator
struct	SAnchor
	An anchor related to the body of an entity. More...
struct	SBoundingBox
struct	SCleanupThreadData
struct	SCleanupUpdateThreadData
struct	SDynamics2DEngineGripperData
struct	SDynamics2DSegmentHitData
struct	SEmbodiedEntityIntersectionItem
struct	SEntityComparator
	A generic entity comparator, used in containers that must be ordered deterministically. More...
struct	SLogColor
	Stream modifier to set attribute and color of the subsequent text. More...
struct	SOperationOutcome
	Type to use as return value for operation outcome. More...
struct	SQueryResultItem
struct	SSetElement
	The data container of CSet. More...
struct	STagCounter
	Holds the value of the last used tag. More...
struct	STagHolder
	Holds the value of the tag associated to DERIVED More...
class	UniformGenerator

Typedefs
typedef std::vector< CEmbodiedEntity * >	TEmbodiedEntityVector
typedef std::map< std::string, CEmbodiedEntity * >	TEmbodiedEntityMap
typedef CSet< CEmbodiedEntity * >	TEmbodiedEntitySet
typedef std::vector< SEmbodiedEntityIntersectionItem >	TEmbodiedEntityIntersectionData
typedef std::vector< SQueryResultItem >	TQueryResult
typedef ticpp::Element	TConfigurationNode
	The ARGoS configuration XML node. More...
typedef ticpp::Iterator< ticpp::Element >	TConfigurationNodeIterator
	The iterator for the ARGoS configuration XML node. More...
typedef ticpp::Iterator< ticpp::Attribute >	TConfigurationAttributeIterator
	The iterator for the attributes of an XML node. More...
typedef CFactory< CBatteryDischargeModel >	TFactoryBatteryDischargeModel
	For dynamic loading of battery discharge models. More...

Enumerations
enum	EARGoSLogAttributes {   ARGOS_LOG_ATTRIBUTE_RESET = 0, ARGOS_LOG_ATTRIBUTE_BRIGHT = 1, ARGOS_LOG_ATTRIBUTE_DIM = 2, ARGOS_LOG_ATTRIBUTE_UNDERSCORE = 3,   ARGOS_LOG_ATTRIBUTE_BLINK = 5, ARGOS_LOG_ATTRIBUTE_REVERSE = 7, ARGOS_LOG_ATTRIBUTE_HIDDEN = 8 }
	The possible attributes of the logged text. More...
enum	EARGoSLogColors {   ARGOS_LOG_COLOR_BLACK = 0, ARGOS_LOG_COLOR_RED = 1, ARGOS_LOG_COLOR_GREEN = 2, ARGOS_LOG_COLOR_YELLOW = 3,   ARGOS_LOG_COLOR_BLUE = 4, ARGOS_LOG_COLOR_MAGENTA = 5, ARGOS_LOG_COLOR_CYAN = 6, ARGOS_LOG_COLOR_WHITE = 7 }
	The possible colors of the logged text. More...
enum	EPUCK_WHEELS { EPUCK_LEFT_WHEEL = 0, EPUCK_RIGHT_WHEEL = 1, EPUCK_LEFT_WHEEL = 0, EPUCK_RIGHT_WHEEL = 1 }
enum	EPUCK_WHEELS { EPUCK_LEFT_WHEEL = 0, EPUCK_RIGHT_WHEEL = 1, EPUCK_LEFT_WHEEL = 0, EPUCK_RIGHT_WHEEL = 1 }
enum	FOOTBOT_WHEELS { FOOTBOT_LEFT_WHEEL = 0, FOOTBOT_RIGHT_WHEEL = 1, FOOTBOT_LEFT_WHEEL = 0, FOOTBOT_RIGHT_WHEEL = 1 }
enum	ETurretModes { MODE_OFF, MODE_PASSIVE, MODE_SPEED_CONTROL, MODE_POSITION_CONTROL }
enum	FOOTBOT_WHEELS { FOOTBOT_LEFT_WHEEL = 0, FOOTBOT_RIGHT_WHEEL = 1, FOOTBOT_LEFT_WHEEL = 0, FOOTBOT_RIGHT_WHEEL = 1 }

Functions
	REGISTER_STANDARD_SPACE_OPERATIONS_ON_COMPOSABLE (CComposableEntity)
bool	operator== (const SAnchor *ps_anchor, const std::string &str_id)
	Returns true if the anchor id matches the given id. More...
	INIT_VTABLE_FOR (CEntity)
	REGISTER_STANDARD_SPACE_OPERATIONS_ON_ENTITY (CEntity)
template<typename LABEL , typename PLUGIN , typename RETURN_VALUE >
RETURN_VALUE	CallEntityOperation (PLUGIN &t_plugin, CEntity &c_entity)
	Calls the operation corresponding to the given context and operand Skips the function call if the operation is missing in the vtable. More...
	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")
	REGISTER_SPACE_OPERATION (CSpaceOperationAddEntity, CSpaceOperationAddCFloorEntity, CFloorEntity)
	REGISTER_STANDARD_SPACE_OPERATION_REMOVE_ENTITY (CFloorEntity)
	REGISTER_STANDARD_SPACE_OPERATIONS_ON_ENTITY (CPositionalEntity)
bool	GetEmbodiedEntitiesIntersectedByRay (TEmbodiedEntityIntersectionData &t_data, const CRay3 &c_ray)
	Checks whether the given ray intersects any entity. More...
bool	GetClosestEmbodiedEntityIntersectedByRay (SEmbodiedEntityIntersectionItem &s_item, const CRay3 &c_ray)
	Returns the closest intersection with an embodied entity to the ray start. More...
bool	GetClosestEmbodiedEntityIntersectedByRay (SEmbodiedEntityIntersectionItem &s_item, const CRay3 &c_ray, CEmbodiedEntity &c_entity)
	Returns the closest intersection with an embodied entity to the ray start. More...
void	QueryShowPluginDescription (const std::string &str_query)
void	QueryPlugins (const std::string &str_query)
template<class TYPE >
void	QuerySearchPlugins (const std::string &str_query, TQueryResult &t_result)
template<class TYPE >
void	QueryShowList (const std::string &str_header)
RealNumberGenerator *	CreateGenerator (TConfigurationNode &t_tree)
void *	LaunchThreadBalanceLength (void *p_data)
void *	LaunchUpdateThreadBalanceQuantity (void *p_data)
CRange< size_t >	CalculatePluginRangeForThread (size_t un_id, size_t un_tot_plugins)
bool	NodeExists (TConfigurationNode &t_node, const std::string &str_tag) throw ()
	Given a tree root node, returns true if one of its child nodes has the wanted name. More...
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. More...
void	AddChildNode (TConfigurationNode &t_parent_node, TConfigurationNode &t_child_node)
	Adds an XML node as child of another XML node. More...
template<typename T >
void	GetNodeText (TConfigurationNode &t_node, T &t_buffer)
	Returns the text of the passed XML node A node text is as follows: More...
template<typename T >
void	GetNodeTextOrDefault (TConfigurationNode &t_node, T &t_buffer, const T &t_default)
	Returns the text of the passed XML node, or the passed default value. More...
bool	NodeAttributeExists (TConfigurationNode &t_node, const std::string &str_attribute)
	Returns true if the specified attribute of a node exists. More...
template<typename T >
void	GetNodeAttribute (TConfigurationNode &t_node, const std::string &str_attribute, T &t_buffer)
	Returns the value of a node's attribute. More...
void	GetNodeAttribute (TConfigurationNode &t_node, const std::string &str_attribute, bool &b_buffer)
	Returns the value of a node's attribute. More...
void	GetNodeAttribute (TConfigurationNode &t_node, const std::string &str_attribute, UInt8 &un_buffer)
	Returns the value of a node's attribute. More...
void	GetNodeAttribute (TConfigurationNode &t_node, const std::string &str_attribute, SInt8 &n_buffer)
	Returns the value of a node's attribute. More...
template<typename T >
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. More...
void	GetNodeAttributeOrDefault (TConfigurationNode &t_node, const std::string &str_attribute, bool &b_buffer, const bool b_default)
	Returns the value of a node's attribute, or the passed default value. More...
void	GetNodeAttributeOrDefault (TConfigurationNode &t_node, const std::string &str_attribute, UInt8 &un_buffer, const UInt8 un_default)
	Returns the value of a node's attribute, or the passed default value. More...
void	GetNodeAttributeOrDefault (TConfigurationNode &t_node, const std::string &str_attribute, SInt8 &n_buffer, const SInt8 n_default)
	Returns the value of a node's attribute, or the passed default value. More...
template<typename T >
void	SetNodeAttribute (TConfigurationNode &t_node, const std::string &str_attribute, const T &t_value)
	Sets the value of the wanted node's attribute. More...
void	SetNodeAttribute (TConfigurationNode &t_node, const std::string &str_attribute, const bool b_value)
	Sets the value of the wanted node's attribute. More...
void	SetNodeAttribute (TConfigurationNode &t_node, const std::string &str_attribute, const SInt8 n_value)
	Sets the value of the wanted node's attribute. More...
void	SetNodeAttribute (TConfigurationNode &t_node, const std::string &str_attribute, const UInt8 un_value)
	Sets the value of the wanted node's attribute. More...
template<typename T >
T *	any_cast (CAny *pc_any)
	Performs a cast on the any type to the desired type, when the any type is passed by non-const pointer. More...
template<typename T >
const T *	any_cast (const CAny *pc_any)
	Performs a cast on the any type to the desired type, when the any type is passed by const pointer. More...
template<typename T >
const T &	any_cast (const CAny &c_any)
	Performs a cast on the any type to the desired type, when the any type is passed by const reference. More...
template<typename T >
T &	any_cast (CAny &c_any)
	Performs a cast on the any type to the desired type, when the any type is passed by non-const reference. More...
std::ostream &	operator<< (std::ostream &c_os, const CByteArray &c_byte_array)
std::ostream &	operator<< (std::ostream &c_os, const SLogColor &s_log_color)
	Stream operator that accepts the stream modifier. More...
	DEFINE_ARGOS_STREAM_COLOR_HELPER (red, RED)
	Bright red text modifier. More...
	DEFINE_ARGOS_STREAM_COLOR_HELPER (green, GREEN)
	Bright green text modifier. More...
	DEFINE_ARGOS_STREAM_COLOR_HELPER (yellow, YELLOW)
	Bright yellow text modifier. More...
	DEFINE_ARGOS_STREAM_COLOR_HELPER (blue, BLUE)
	Bright blue text modifier. More...
	DEFINE_ARGOS_STREAM_COLOR_HELPER (magenta, MAGENTA)
	Bright magenta text modifier. More...
	DEFINE_ARGOS_STREAM_COLOR_HELPER (cyan, CYAN)
	Bright cyan text modifier. More...
	DEFINE_ARGOS_STREAM_COLOR_HELPER (white, WHITE)
	Bright white text modifier. More...
std::ostream &	reset (std::ostream &c_os)
	Resets the text to the default settings. More...
CDegrees	ToDegrees (const CRadians &c_radians)
	Converts CRadians to CDegrees. More...
CRadians	ToRadians (const CDegrees &c_degrees)
	Converts CDegrees to CRadians. More...
CRadians	NormalizedDifference (const CRadians &c_angle1, const CRadians &c_angle2)
	Calculates the normalized difference between the given angles. More...
CDegrees	NormalizedDifference (const CDegrees &c_angle1, const CDegrees &c_angle2)
	Calculates the normalized difference between the given angles. More...
void	SinCos (const CRadians &c_radians, Real &f_sin, Real &f_cos)
	Computes the sine and cosine of the passed value in radians. More...
Real	Sin (const CRadians &c_radians)
	Computes the sine of the passed value in radians. More...
Real	Cos (const CRadians &c_radians)
	Computes the cosine of the passed value in radians. More...
Real	Tan (const CRadians &c_radians)
	Computes the tangent of the passed value in radians. More...
CRadians	ASin (Real f_value)
	Computes the arcsine of the passed value. More...
CRadians	ACos (Real f_value)
	Computes the arccosine of the passed value. More...
CRadians	ATan2 (const Real f_y, const Real f_x)
	Computes the arctangent of the passed values. More...
void	Insert (std::vector< std::vector< CConvexHull::TEdge > > &vec_edges, const std::array< UInt32, 3 > &arr_vertices)
void	Erase (std::vector< std::vector< CConvexHull::TEdge > > &vec_edges, const std::array< UInt32, 3 > &arr_vertices)
template<typename T >
T	Abs (const T &t_v)
	Returns the absolute value of the passed argument. More...
SInt32	Abs (SInt32 t_v)
	Returns the absolute value of the passed argument. More...
Real	Abs (Real t_v)
	Returns the absolute value of the passed argument. More...
template<typename T >
T	Min (const T &t_v1, const T &t_v2)
	Returns the smaller of the two passed arguments. More...
template<typename T >
T &	Min (T &t_v1, T &t_v2)
	Returns the smaller of the two passed arguments. More...
template<typename T >
T	Max (const T &t_v1, const T &t_v2)
	Returns the bigger of the two passed arguments. More...
template<typename T >
T &	Max (T &t_v1, T &t_v2)
	Returns the bigger of the two passed arguments. More...
template<typename T >
SInt32	Sign (const T &t_v)
	Returns the sign of the value of the passed argument. More...
template<typename T >
T	Square (const T &t_v)
	Returns the square of the value of the passed argument. More...
SInt32	Floor (Real f_value)
	Rounds the passed floating-point value to the closest lower integer. More...
SInt32	Ceil (Real f_value)
	Rounds the passed floating-point value to the closest higher integer. More...
SInt32	Round (Real f_value)
	Rounds the passed floating-point value to the closest integer. More...
SInt32	RoundClosestToZero (Real f_value)
	Rounds the passed floating-point value to the integer closest to zero. More...
bool	DoubleEqAbsolute (Real f_value1, Real f_value2, Real f_epsilon)
	Tests whether a floating-point value is lower than another. More...
bool	DoubleEq (Real f_value1, Real f_value2)
	Tests whether a floating-point value is lower than another. More...
Real	Interpolate (Real f_x, const std::vector< std::pair< Real, Real > > &c_points)
	Return the value of the linear interpolation. More...
Real	SquareDistance (const CVector2 &c_v1, const CVector2 &c_v2)
	Computes the square distance between the passed vectors. More...
Real	Distance (const CVector2 &c_v1, const CVector2 &c_v2)
	Computes the distance between the passed vectors. More...
Real	SquareDistance (const CVector3 &c_v1, const CVector3 &c_v2)
	Computes the square distance between the passed vectors. More...
Real	Distance (const CVector3 &c_v1, const CVector3 &c_v2)
	Computes the distance between the passed vectors. More...
template<typename DERIVED , typename BASE >
size_t	GetTag ()
	Returns the value of the tag associated to DERIVED More...
template<typename CONTEXT , typename BASE , typename FUNCTION >
CVTable< CONTEXT, BASE, FUNCTION > &	GetVTable ()
	Function that returns a reference to the static vtable. More...
void	DumpResourceUsageHumanReadable (std::ostream &c_os, const ::rusage &t_resources)
void	DumpResourceUsageAsTableRow (std::ostream &c_os, const ::rusage &t_resources)
::rusage	operator- (const ::rusage &t_resource1, const ::rusage &t_resource2)
void	Tokenize (const std::string &str_string, std::vector< std::string > &vec_tokens, const std::string &str_delimiters=" ")
	Tokenizes the given string according to the wanted delimiters (by default just a " "). More...
std::string	StringToUpperCase (const std::string &str_string)
	Converts a string to upper case. More...
std::string	StringToLowerCase (const std::string &str_string)
	Converts a string to lower case. More...
void	Replace (std::string &str_buffer, const std::string &str_original, const std::string &str_new)
	Searches into str_buffer for occurrences of str_original and substitutes them with str_new. More...
bool	MatchPattern (const std::string &str_input, const std::string &str_pattern)
	Returns true if str_pattern is matched by str_input. More...
std::string &	ExpandEnvVariables (std::string &str_buffer)
	Searches into str_buffer for occurrences of an environment variable of the form $VAR and substitutes them with the value of the variable. More...
template<typename T >
std::string	ToString (const T &t_value)
	Converts the given parameter to a std::string. More...
template<typename T >
T	FromString (const std::string &str_value)
	Converts the given std::string parameter to the wanted type. More...
template<typename T >
void	ParseValues (std::istream &str_input, UInt32 un_num_fields, T *pt_field_buffer, const char ch_delimiter='\n')
template<typename T >
void	ParseValues (const std::string &str_input, const UInt32 un_num_fields, T *pt_field_buffer, const char ch_delimiter='\n')
	REGISTER_CONTROLLER (CLuaController, "lua_controller")
int	LuaRNGBernoulli (lua_State *pt_state)
int	LuaRNGUniform (lua_State *pt_state)
int	LuaRNGUniformInt (lua_State *pt_state)
int	LuaRNGExponential (lua_State *pt_state)
int	LuaRNGPoisson (lua_State *pt_state)
int	LuaRNGGaussian (lua_State *pt_state)
void	PrintStackEntry (CARGoSLog &c_log, lua_State *pt_state, SInt32 n_index)
void	RecursivePrintGlobals (CARGoSLog &c_log, lua_State *pt_state, size_t un_depth)
std::ostream &	operator<< (std::ostream &c_os, const CCI_EPuckProximitySensor::SReading &s_reading)
std::ostream &	operator<< (std::ostream &c_os, const CCI_EPuckProximitySensor::TReadings &t_readings)
	REGISTER_STANDARD_DYNAMICS2D_OPERATIONS_ON_ENTITY (CEPuckEntity, CDynamics2DEPuckModel)
	REGISTER_STANDARD_DYNAMICS3D_OPERATIONS_ON_ENTITY (CEPuckEntity, CDynamics3DEPuckModel)
	REGISTER_ENTITY (CEPuckEntity, "e-puck", "Carlo Pinciroli [ilpincy@gmail.com]", "1.0", "The e-puck robot.", "The e-puck is a open-hardware, extensible robot intended for education. In its\n" "simplest form, it is a two-wheeled robot equipped with proximity sensors,\n" "ground sensors, light sensors, a microphone, a frontal camera, and a ring of\n" "red LEDs. More information is available at http://www.epuck.org\n\n" "REQUIRED XML CONFIGURATION\n\n" " <arena ...>\n" " ...\n" " <e-puck id=\"eb0\">\n" " <body position=\"0.4,2.3,0.25\" orientation=\"45,90,0\" />\n" " <controller config=\"mycntrl\" />\n" " </e-puck>\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 'body/position' attribute specifies the position of the pucktom point of the\n" "e-puck in the arena. When the robot is untranslated and unrotated, the\n" "pucktom point is in the origin and it is defined as the middle point between\n" "the two wheels on the XY plane and the lowest point of the robot on the Z\n" "axis, that is the point where the wheels touch the floor. The attribute values\n" "are in the X,Y,Z order.\n" "The 'body/orientation' attribute specifies the orientation of the e-puck. All\n" "rotations are performed with respect to the pucktom point. The order of the\n" "angles is Z,Y,X, which means that the first number corresponds to the rotation\n" "around the Z axis, the second around Y and the last around X. This reflects\n" "the internal convention used in ARGoS, in which rotations are performed in\n" "that order. Angles are expressed in degrees. When the robot is unrotated, it\n" "is oriented along the X axis.\n" "The 'controller/config' attribute is used to assign a controller to the\n" "e-puck. The value of the attribute must be set to the id of a previously\n" "defined controller. Controllers are defined in the <controllers> XML subtree.\n\n" "OPTIONAL XML CONFIGURATION\n\n" "You can set the emission range of the range-and-bearing system. By default, a\n" "message sent by an e-puck can be received up to 80cm. By using the 'rab_range'\n" "attribute, you can change it to, i.e., 4m as follows:\n\n" " <arena ...>\n" " ...\n" " <e-puck id=\"eb0\" rab_range=\"4\">\n" " <body position=\"0.4,2.3,0.25\" orientation=\"45,90,0\" />\n" " <controller config=\"mycntrl\" />\n" " </e-puck>\n" " ...\n" " </arena>\n\n" "You can also set the data sent at each time step through the range-and-bearing\n" "system. By default, a message sent by an e-puck is 2 bytes long. By using the\n" "'rab_data_size' attribute, you can change it to, i.e., 20 bytes as follows:\n\n" " <arena ...>\n" " ...\n" " <e-puck id=\"eb0\" rab_data_size=\"20\">\n" " <body position=\"0.4,2.3,0.25\" orientation=\"45,90,0\" />\n" " <controller config=\"mycntrl\" />\n" " </e-puck>\n" " ...\n" " </arena>\n\n" "You can also configure the battery of the robot. By default, the battery never\n" "depletes. You can choose among several battery discharge models, such as\n" "- time: the battery depletes by a fixed amount at each time step\n" "- motion: the battery depletes according to how the robot moves\n" "- time_motion: a combination of the above models.\n" "You can define your own models too. Follow the examples in the file\n" "argos3/src/plugins/simulator/entities/battery_equipped_entity.cpp.\n\n" " <arena ...>\n" " ...\n" " <e-puck id=\"eb0\"\n" " <body position=\"0.4,2.3,0.25\" orientation=\"45,0,0\" />\n" " <controller config=\"mycntrl\" />\n" " <battery model=\"time\" factor=\"1e-5\"/>\n" " </e-puck>\n" " ...\n" " </arena>\n\n" " <arena ...>\n" " ...\n" " <e-puck id=\"eb0\"\n" " <body position=\"0.4,2.3,0.25\" orientation=\"45,0,0\" />\n" " <controller config=\"mycntrl\" />\n" " <battery model=\"motion\" pos_factor=\"1e-3\"\n" " orient_factor=\"1e-3\"/>\n" " </e-puck>\n" " ...\n" " </arena>\n\n" " <arena ...>\n" " ...\n" " <e-puck id=\"eb0\"\n" " <body position=\"0.4,2.3,0.25\" orientation=\"45,0,0\" />\n" " <controller config=\"mycntrl\" />\n" " <battery model=\"time_motion\" time_factor=\"1e-5\"\n" " pos_factor=\"1e-3\"\n" " orient_factor=\"1e-3\"/>\n" " </e-puck>\n" " ...\n" " </arena>\n\n", "Under development")
	REGISTER_STANDARD_SPACE_OPERATIONS_ON_COMPOSABLE (CEPuckEntity)
	REGISTER_SENSOR (CEPuckProximityDefaultSensor, "epuck_proximity", "default", "Danesh Tarapore [daneshtarapore@gmail.com]", "1.0", "The E-Puck proximity sensor.", "This sensor accesses the epuck proximity sensor. For a complete description\n" "of its usage, refer to the ci_epuck_proximity_sensor.h interface. For the XML\n" "configuration, refer to the default proximity sensor.\n", "Usable")
	REGISTER_STANDARD_PHYSX_OPERATIONS_ON_ENTITY (CEPuckEntity, CPhysXEPuckModel)
	REGISTER_QTOPENGL_ENTITY_OPERATION (CQTOpenGLOperationDrawNormal, CQTOpenGLOperationDrawEPuckNormal, CEPuckEntity)
	REGISTER_QTOPENGL_ENTITY_OPERATION (CQTOpenGLOperationDrawSelected, CQTOpenGLOperationDrawEPuckSelected, CEPuckEntity)
std::ostream &	operator<< (std::ostream &c_os, const CCI_EyeBotLightSensor::SReading &s_reading)
std::ostream &	operator<< (std::ostream &c_os, const CCI_EyeBotProximitySensor::SReading &s_reading)
	REGISTER_ENTITY (CEyeBotEntity, "eye-bot", "Carlo Pinciroli [ilpincy@gmail.com]", "1.0", "The eye-bot robot, developed in the Swarmanoid project.", "The eye-bot is a quad-rotor developed in the Swarmanoid Project. It is a\n" "fully autonomous robot with a rich set of sensors and actuators. For more\n" "information, refer to the dedicated web page\n" "(http://www.swarmanoid.org/swarmanoid_hardware.php).\n\n" "REQUIRED XML CONFIGURATION\n\n" " <arena ...>\n" " ...\n" " <eye-bot id=\"eb0\">\n" " <body position=\"0.4,2.3,0.25\" orientation=\"45,0,0\" />\n" " <controller config=\"mycntrl\" />\n" " </eye-bot>\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 'body/position' attribute specifies the position of the bottom point of the\n" "eye-bot in the arena. When the robot is untranslated and unrotated, the\n" "bottom point is in the origin and it is defined as the middle point between\n" "the two wheels on the XY plane and the lowest point of the robot on the Z\n" "axis, that is the point where the wheels touch the floor. The attribute values\n" "are in the X,Y,Z order.\n" "The 'body/orientation' attribute specifies the orientation of the eye-bot. All\n" "rotations are performed with respect to the bottom point. The order of the\n" "angles is Z,Y,X, which means that the first number corresponds to the rotation\n" "around the Z axis, the second around Y and the last around X. This reflects\n" "the internal convention used in ARGoS, in which rotations are performed in\n" "that order. Angles are expressed in degrees. When the robot is unrotated, it\n" "is oriented along the X axis.\n" "The 'controller/config' attribute is used to assign a controller to the\n" "eye-bot. The value of the attribute must be set to the id of a previously\n" "defined controller. Controllers are defined in the <controllers> XML subtree.\n\n" "OPTIONAL XML CONFIGURATION\n\n" "You can set the emission range of the range-and-bearing system. By default, a\n" "message sent by an eye-bot can be received up to 3m. By using the 'rab_range'\n" "attribute, you can change it to, i.e., 4m as follows:\n\n" " <arena ...>\n" " ...\n" " <eye-bot id=\"eb0\" rab_range=\"4\">\n" " <body position=\"0.4,2.3,0.25\" orientation=\"45,0,0\" />\n" " <controller config=\"mycntrl\" />\n" " </eye-bot>\n" " ...\n" " </arena>\n\n" "You can also set the data sent at each time step through the range-and-bearing\n" "system. By default, a message sent by a eye-bot is 10 bytes long. By using the\n" "'rab_data_size' attribute, you can change it to, i.e., 20 bytes as follows:\n\n" " <arena ...>\n" " ...\n" " <eye-bot id=\"eb0\" rab_data_size=\"20\">\n" " <body position=\"0.4,2.3,0.25\" orientation=\"45,0,0\" />\n" " <controller config=\"mycntrl\" />\n" " </eye-bot>\n" " ...\n" " </arena>\n\n" "You can also configure the battery of the robot. By default, the battery never\n" "depletes. You can choose among several battery discharge models, such as\n" "- time: the battery depletes by a fixed amount at each time step\n" "- motion: the battery depletes according to how the robot moves\n" "- time_motion: a combination of the above models.\n" "You can define your own models too. Follow the examples in the file\n" "argos3/src/plugins/simulator/entities/battery_equipped_entity.cpp.\n\n" " <arena ...>\n" " ...\n" " <eye-bot id=\"eb0\"\n" " <body position=\"0.4,2.3,0.25\" orientation=\"45,0,0\" />\n" " <controller config=\"mycntrl\" />\n" " <battery model=\"time\" factor=\"1e-5\"/>\n" " </eye-bot>\n" " ...\n" " </arena>\n\n" " <arena ...>\n" " ...\n" " <eye-bot id=\"eb0\"\n" " <body position=\"0.4,2.3,0.25\" orientation=\"45,0,0\" />\n" " <controller config=\"mycntrl\" />\n" " <battery model=\"motion\" pos_factor=\"1e-3\"\n" " orient_factor=\"1e-3\"/>\n" " </eye-bot>\n" " ...\n" " </arena>\n\n" " <arena ...>\n" " ...\n" " <eye-bot id=\"eb0\"\n" " <body position=\"0.4,2.3,0.25\" orientation=\"45,0,0\" />\n" " <controller config=\"mycntrl\" />\n" " <battery model=\"time_motion\" time_factor=\"1e-5\"\n" " pos_factor=\"1e-3\"\n" " orient_factor=\"1e-3\"/>\n" " </eye-bot>\n" " ...\n" " </arena>\n\n" "Finally, you can change the parameters of the camera. You can set its aperture,\n" "focal length, and range with the attributes 'camera_aperture',\n" "'camera_focal_length', and 'camera_range', respectively. The default values are:\n" "30 degrees for aperture, 0.035 for focal length, and 2 meters for range. Check\n" "the following example:\n\n" " <arena ...>\n" " ...\n" " <eye-bot id=\"eb0\"\n" " camera_aperture=\"45\"\n" " camera_focal_length=\"0.07\"\n" " camera_range=\"10\">\n" " <body position=\"0.4,2.3,0.25\" orientation=\"45,0,0\" />\n" " <controller config=\"mycntrl\" />\n" " </eye-bot>\n" " ...\n" " </arena>\n\n", "Usable")
	REGISTER_STANDARD_SPACE_OPERATIONS_ON_COMPOSABLE (CEyeBotEntity)
	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")
	REGISTER_SENSOR (CEyeBotProximityDefaultSensor, "eyebot_proximity", "default", "Carlo Pinciroli [ilpincy@gmail.com]", "1.0", "The eye-bot proximity sensor.", "This sensor accesses the eye-bot proximity sensor. For a complete description\n" "of its usage, refer to the ci_eyebot_proximity_sensor.h interface. For the XML\n" "configuration, refer to the default proximity sensor.\n", "Usable")
	REGISTER_STANDARD_POINTMASS3D_OPERATIONS_ON_ENTITY (CEyeBotEntity, CPointMass3DEyeBotModel)
	REGISTER_QTOPENGL_ENTITY_OPERATION (CQTOpenGLOperationDrawNormal, CQTOpenGLOperationDrawEyeBotNormal, CEyeBotEntity)
	REGISTER_QTOPENGL_ENTITY_OPERATION (CQTOpenGLOperationDrawSelected, CQTOpenGLOperationDrawEyeBotSelected, CEyeBotEntity)
std::ostream &	operator<< (std::ostream &c_os, const CCI_FootBotBaseGroundSensor::SReading &s_reading)
std::ostream &	operator<< (std::ostream &c_os, const CCI_FootBotLightSensor::SReading &s_reading)
std::ostream &	operator<< (std::ostream &c_os, const CCI_FootBotMotorGroundSensor::SReading &s_reading)
std::ostream &	operator<< (std::ostream &c_os, const CCI_FootBotProximitySensor::SReading &s_reading)
	REGISTER_STANDARD_DYNAMICS2D_OPERATIONS_ON_ENTITY (CFootBotEntity, CDynamics2DFootBotModel)
	REGISTER_SENSOR (CFootBotBaseGroundRotZOnlySensor, "footbot_base_ground", "rot_z_only", "Carlo Pinciroli [ilpincy@gmail.com]", "1.0", "The foot-bot base ground sensor.", "This sensor accesses the foot-bot base ground sensor. For a complete description\n" "of its usage, refer to the ci_footbot_base_ground_sensor.h interface. For the XML\n" "configuration, refer to the default ground sensor.\n", "Usable")
	REGISTER_ACTUATOR (CFootBotDistanceScannerDefaultActuator, "footbot_distance_scanner", "default", "Carlo Pinciroli [ilpincy@gmail.com]", "1.0", "The foot-bot distance scanner actuator.", "This actuator controls the foot-bot distance scanner. For a complete\n" "description of its usage, refer to the ci_footbot_distance_scanner_actuator\n" "file.\n\n" "REQUIRED XML CONFIGURATION\n\n" " <controllers>\n" " ...\n" " <my_controller ...>\n" " ...\n" " <actuators>\n" " ...\n" " <footbot_distance_scanner implementation=\"default\" />\n" " ...\n" " </actuators>\n" " ...\n" " </my_controller>\n" " ...\n" " </controllers>\n\n" "OPTIONAL XML CONFIGURATION\n\n" "None for the time being.\n", "Usable")
	REGISTER_STANDARD_SPACE_OPERATIONS_ON_ENTITY (CFootBotDistanceScannerEquippedEntity)
	REGISTER_SENSOR (CFootBotDistanceScannerRotZOnlySensor, "footbot_distance_scanner", "rot_z_only", "Carlo Pinciroli [ilpincy@gmail.com]", "1.0", "The foot-bot distance scanner sensor (optimized for 2D).", "This sensor accesses the foot-bot distance scanner sensor. For a complete\n" "description of its usage, refer to the common interface.\n" "In this implementation, the readings are calculated under the assumption that\n" "the foot-bot is always parallel to the XY plane, i.e., it rotates only around\n" "the Z axis. This implementation is faster than a 3D one and should be used\n" "only when the assumption about the foot-bot rotation holds.\n\n" "This sensor is enabled by default.\n\n" "REQUIRED XML CONFIGURATION\n\n" " <controllers>\n" " ...\n" " <my_controller ...>\n" " ...\n" " <sensors>\n" " ...\n" " <footbot_distance_scanner 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 distance scanner 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=\"true\"' in the\n" "XML as in this example:\n\n" " <controllers>\n" " ...\n" " <my_controller ...>\n" " ...\n" " <sensors>\n" " ...\n" " <footbot_distance_scanner implementation=\"rot_z_only\"\n" " show_rays=\"true\" />\n" " ...\n" " </sensors>\n" " ...\n" " </my_controller>\n" " ...\n" " </controllers>\n", "Usable")
	REGISTER_ENTITY (CFootBotEntity, "foot-bot", "Carlo Pinciroli [ilpincy@gmail.com]", "1.0", "The foot-bot robot, developed in the Swarmanoid project.", "The foot-bot is a wheeled robot developed in the Swarmanoid Project. It is a\n" "modular robot with a rich set of sensors and actuators. For more information,\n" "refer to the dedicated web page\n" "(http://www.swarmanoid.org/swarmanoid_hardware.php).\n\n" "REQUIRED XML CONFIGURATION\n\n" " <arena ...>\n" " ...\n" " <foot-bot id=\"fb0\">\n" " <body position=\"0.4,2.3,0.25\" orientation=\"45,0,0\" />\n" " <controller config=\"mycntrl\" />\n" " </foot-bot>\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 'body/position' attribute specifies the position of the bottom point of the\n" "foot-bot in the arena. When the robot is untranslated and unrotated, the\n" "bottom point is in the origin and it is defined as the middle point between\n" "the two wheels on the XY plane and the lowest point of the robot on the Z\n" "axis, that is the point where the wheels touch the floor. The attribute values\n" "are in the X,Y,Z order.\n" "The 'body/orientation' attribute specifies the orientation of the foot-bot. All\n" "rotations are performed with respect to the bottom point. The order of the\n" "angles is Z,Y,X, which means that the first number corresponds to the rotation\n" "around the Z axis, the second around Y and the last around X. This reflects\n" "the internal convention used in ARGoS, in which rotations are performed in\n" "that order. Angles are expressed in degrees. When the robot is unrotated, it\n" "is oriented along the X axis.\n" "The 'controller/config' attribute is used to assign a controller to the\n" "foot-bot. The value of the attribute must be set to the id of a previously\n" "defined controller. Controllers are defined in the <controllers> XML subtree.\n\n" "OPTIONAL XML CONFIGURATION\n\n" "You can set the emission range of the range-and-bearing system. By default, a\n" "message sent by a foot-bot can be received up to 3m. By using the 'rab_range'\n" "attribute, you can change it to, i.e., 4m as follows:\n\n" " <arena ...>\n" " ...\n" " <foot-bot id=\"fb0\" rab_range=\"4\">\n" " <body position=\"0.4,2.3,0.25\" orientation=\"45,0,0\" />\n" " <controller config=\"mycntrl\" />\n" " </foot-bot>\n" " ...\n" " </arena>\n\n" "You can also set the data sent at each time step through the range-and-bearing\n" "system. By default, a message sent by a foot-bot is 10 bytes long. By using the\n" "'rab_data_size' attribute, you can change it to, i.e., 20 bytes as follows:\n\n" " <arena ...>\n" " ...\n" " <foot-bot id=\"fb0\" rab_data_size=\"20\">\n" " <body position=\"0.4,2.3,0.25\" orientation=\"45,0,0\" />\n" " <controller config=\"mycntrl\" />\n" " </foot-bot>\n" " ...\n" " </arena>\n\n" "You can also configure the battery of the robot. By default, the battery never\n" "depletes. You can choose among several battery discharge models, such as\n" "- time: the battery depletes by a fixed amount at each time step\n" "- motion: the battery depletes according to how the robot moves\n" "- time_motion: a combination of the above models.\n" "You can define your own models too. Follow the examples in the file\n" "argos3/src/plugins/simulator/entities/battery_equipped_entity.cpp.\n\n" " <arena ...>\n" " ...\n" " <foot-bot id=\"fb0\"\n" " <body position=\"0.4,2.3,0.25\" orientation=\"45,0,0\" />\n" " <controller config=\"mycntrl\" />\n" " <battery model=\"time\" factor=\"1e-5\"/>\n" " </foot-bot>\n" " ...\n" " </arena>\n\n" " <arena ...>\n" " ...\n" " <foot-bot id=\"fb0\"\n" " <body position=\"0.4,2.3,0.25\" orientation=\"45,0,0\" />\n" " <controller config=\"mycntrl\" />\n" " <battery model=\"motion\" pos_factor=\"1e-3\"\n" " orient_factor=\"1e-3\"/>\n" " </foot-bot>\n" " ...\n" " </arena>\n\n" " <arena ...>\n" " ...\n" " <foot-bot id=\"fb0\"\n" " <body position=\"0.4,2.3,0.25\" orientation=\"45,0,0\" />\n" " <controller config=\"mycntrl\" />\n" " <battery model=\"time_motion\" time_factor=\"1e-5\"\n" " pos_factor=\"1e-3\"\n" " orient_factor=\"1e-3\"/>\n" " </foot-bot>\n" " ...\n" " </arena>\n\n" "You can also change the aperture of the omnidirectional camera. The aperture is\n" "set to 70 degrees by default. The tip of the omnidirectional camera is placed on\n" "top of the robot (h=0.289), and with an aperture of 70 degrees the range on the\n" "ground is r=h*tan(aperture)=0.289*tan(70)=0.794m. To change the aperture to 80\n" "degrees, use the 'omnidirectional_camera_aperture' as follows:\n\n" " <arena ...>\n" " ...\n" " <foot-bot id=\"fb0\" omnidirectional_camera_aperture=\"80\">\n" " <body position=\"0.4,2.3,0.25\" orientation=\"45,0,0\" />\n" " <controller config=\"mycntrl\" />\n" " </foot-bot>\n" " ...\n" " </arena>\n\n" "Finally, you can change the parameters of the perspective camera. You can set\n" "its direction, aperture, focal length, and range with the attributes\n" "'perspective_camera_front', 'perspective_camera_aperture',\n" "'perspective_camera_focal_length', and 'perspective_camera_range', respectively.\n" "The default values are: 'true' for front direction, 30 degrees for aperture,\n" "0.035 for focal length, and 2 meters for range. When the direction is set to\n" "'false', the camera looks up. This can be useful to see the eye-bot LEDs. Check\n" "the following example:\n\n" " <arena ...>\n" " ...\n" " <foot-bot id=\"fb0\"\n" " perspective_camera_front=\"false\"\n" " perspective_camera_aperture=\"45\"\n" " perspective_camera_focal_length=\"0.07\"\n" " perspective_camera_range=\"10\">\n" " <body position=\"0.4,2.3,0.25\" orientation=\"45,0,0\" />\n" " <controller config=\"mycntrl\" />\n" " </foot-bot>\n" " ...\n" " </arena>\n\n", "Under development")
	REGISTER_STANDARD_SPACE_OPERATIONS_ON_COMPOSABLE (CFootBotEntity)
	REGISTER_SENSOR (CFootBotLightRotZOnlySensor, "footbot_light", "rot_z_only", "Carlo Pinciroli [ilpincy@gmail.com]", "1.0", "The foot-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" " <footbot_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" " <footbot_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" " <footbot_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")
	REGISTER_SENSOR (CFootBotMotorGroundRotZOnlySensor, "footbot_motor_ground", "rot_z_only", "Carlo Pinciroli [ilpincy@gmail.com]", "1.0", "The foot-bot motor ground sensor.", "This sensor accesses the foot-bot motor ground sensor. For a complete description\n" "of its usage, refer to the ci_footbot_motor_ground_sensor.h interface. For the XML\n" "configuration, refer to the default ground sensor.\n", "Usable")
	REGISTER_SENSOR (CFootBotProximityDefaultSensor, "footbot_proximity", "default", "Carlo Pinciroli [ilpincy@gmail.com]", "1.0", "The foot-bot proximity sensor.", "This sensor accesses the foot-bot proximity sensor. For a complete description\n" "of its usage, refer to the ci_footbot_proximity_sensor.h interface. For the XML\n" "configuration, refer to the default proximity sensor.\n", "Usable")
	REGISTER_ACTUATOR (CFootBotTurretDefaultActuator, "footbot_turret", "default", "Carlo Pinciroli [ilpincy@gmail.com]", "1.0", "The foot-bot turret actuator.", "This actuator controls the foot-bot turret. For a complete\n" "description of its usage, refer to the ci_footbot_turret_actuator\n" "file.\n\n" "REQUIRED XML CONFIGURATION\n\n" " <controllers>\n" " ...\n" " <my_controller ...>\n" " ...\n" " <actuators>\n" " ...\n" " <footbot_turret implementation=\"default\" />\n" " ...\n" " </actuators>\n" " ...\n" " </my_controller>\n" " ...\n" " </controllers>\n\n" "OPTIONAL XML CONFIGURATION\n\n" "None for the time being.\n", "Usable")
	REGISTER_SENSOR (CFootBotTurretEncoderDefaultSensor, "footbot_turret_encoder", "default", "Carlo Pinciroli [ilpincy@gmail.com]", "1.0", "The foot-bot turret encoder sensor.", "This sensor accesses the foot-bot turret encoder. For a complete\n" "description of its usage, refer to the ci_footbot_turret_encoder_sensor\n" "file.\n\n" "This sensor is enabled by default.\n\n" "REQUIRED XML CONFIGURATION\n\n" " <controllers>\n" " ...\n" " <my_controller ...>\n" " ...\n" " <sensors>\n" " ...\n" " <footbot_turret_encoder implementation=\"default\" />\n" " ...\n" " </sensors>\n" " ...\n" " </my_controller>\n" " ...\n" " </controllers>\n\n" "OPTIONAL XML CONFIGURATION\n\n" "None for the time being.\n", "Usable")
	REGISTER_STANDARD_SPACE_OPERATIONS_ON_ENTITY (CFootBotTurretEntity)
	REGISTER_STANDARD_PHYSX_OPERATIONS_ON_ENTITY (CFootBotEntity, CPhysXFootBotModel)
	REGISTER_STANDARD_POINTMASS3D_OPERATIONS_ON_ENTITY (CFootBotEntity, CPointMass3DFootBotModel)
	REGISTER_QTOPENGL_ENTITY_OPERATION (CQTOpenGLOperationDrawNormal, CQTOpenGLOperationDrawFootBotNormal, CFootBotEntity)
	REGISTER_QTOPENGL_ENTITY_OPERATION (CQTOpenGLOperationDrawSelected, CQTOpenGLOperationDrawFootBotSelected, CFootBotEntity)
CRange< Real >	UNIT (0.0f, 1.0f)
	REGISTER_SENSOR (CBatteryDefaultSensor, "battery", "default", "Adhavan Jayabalan [jadhu94@gmail.com]", "1.0", "A generic battery level sensor.", "This sensor returns the current battery level of a robot. This sensor\n" "can be used with any robot, since it accesses only the body component. In\n" "controllers, you must include the ci_battery_sensor.h header.\n\n" "This sensor is enabled by default.\n\n" "REQUIRED XML CONFIGURATION\n\n" " <controllers>\n" " ...\n" " <my_controller ...>\n" " ...\n" " <sensors>\n" " ...\n" " <battery implementation=\"default\" />\n" " ...\n" " </sensors>\n" " ...\n" " </my_controller>\n" " ...\n" " </controllers>\n\n" "OPTIONAL XML CONFIGURATION\n\n" "It is possible to add uniform noise to the sensor, thus matching the\n" "characteristics of a real robot better. You can add noise through the\n" "attribute 'noise_range' as follows:\n\n" " <controllers>\n" " ...\n" " <my_controller ...>\n" " ...\n" " <sensors>\n" " ...\n" " <battery implementation=\"default\"\n" " noise_range=\"-0.3:0.4\" />\n" " ...\n" " </sensors>\n" " ...\n" " </my_controller>\n" " ...\n" " </controllers>\n\n", "Usable")
	REGISTER_SENSOR (CCameraDefaultSensor, "cameras", "default", "Michael Allwright [allsey87@gmail.com]", "1.0", "A generic multi-camera sensor capable of running various algorithms", "The generic multi-camera sensor can be attached to any composable entity in\n" "ARGoS that contains an embodied entity with at least one anchor. The sensor\n" "can be initialized with a number of cameras each running different algorithms\n" "for detecting different objects in the simulation. The sensor is designed so\n" "that algorithms can project a feature in the simulation on to the virtual\n" "sensor and store its 2D pixel coordinates as a reading. The implementation\n" "of algorithms that behave differently, however, is also possible.\n\n" "This sensor is disabled by default, and must be enabled before it can be\n" "used.\n\n" "REQUIRED XML CONFIGURATION\n\n" " <controllers>\n" " ...\n" " <my_controller ...>\n" " ...\n" " <sensors>\n" " ...\n" " <cameras implementation=\"default\"/>\n" " ...\n" " </sensors>\n" " ...\n" " </my_controller>\n" " ...\n" " </controllers>\n\n" "OPTIONAL XML CONFIGURATION\n\n" "It is possible to draw the frustum of each camera sensor in the OpenGL\n" "visualization. This can be useful for sensor debugging but also to understand\n" "what's wrong in your controller. To turn this functionality on, add the\n" "attribute \"show_frustum\" as follows:\n\n" " <controllers>\n" " ...\n" " <my_controller ...>\n" " ...\n" " <sensors>\n" " ...\n" " <cameras implementation=\"default\" show_frustum=\"true\"/>\n" " ...\n" " </sensors>\n" " ...\n" " </my_controller>\n" " ...\n" " </controllers>\n\n" "To add a camera to the plugin, create a camera node as shown in the following\n" "example. A camera is defined by its range (how close and how far the camera\n" "can see), its anchor and its position and orientation offsets from that\n" "that anchor, its focal length and principal point (which define the\n" "projection matrix), and its resolution.\n\n" " <controllers>\n" " ...\n" " <my_controller ...>\n" " ...\n" " <sensors>\n" " ...\n" " <cameras implementation=\"default\" show_frustum=\"true\">\n" " <camera id=\"camera0\" range=\"0.025:0.25\" anchor=\"origin\"\n" " position=\"0.1,0,0.1\" orientation=\"90,-90,0\"\n" " focal_length=\"800,800\" principal_point=\"320,240\"\n" " resolution=\"640,480\"/>\n" " </cameras>\n" " ...\n" " </sensors>\n" " ...\n" " </my_controller>\n" " ...\n" " </controllers>\n\n" "To run an algorithm on the camera sensor, simply add the algorithm as a node\n" "under the camera node. At the time of writing, three algorithms are available\n" "by default: led_detector, directional_led_detector, and tag_detector. Each of\n" "algorithms requires a medium attribute that specifies the medium where the\n" "target entities are indexed. By setting the show_rays attribute to true, you\n" "can see whether or not a target was partially occluded by another object in\n" "the simulation. For example:\n\n" " <controllers>\n" " ...\n" " <my_controller ...>\n" " ...\n" " <sensors>\n" " ...\n" " <cameras implementation=\"default\" show_frustum=\"true\">\n" " <camera id=\"camera0\" range=\"0.025:0.25\" anchor=\"origin\"\n" " position=\"0.1,0,0.1\" orientation=\"90,-90,0\"\n" " focal_length=\"800,800\" principal_point=\"320,240\"\n" " resolution=\"640,480\">\n" " <led_detector medium=\"leds\" show_rays=\"true\"/>\n" " </camera>\n" " </cameras>\n" " ...\n" " </sensors>\n" " ...\n" " </my_controller>\n" " ...\n" " </controllers>\n", "Usable")
	REGISTER_CAMERA_SENSOR_ALGORITHM (CCameraSensorDirectionalLEDDetectorAlgorithm, "directional_led_detector", "Michael Allwright [allsey87@gmail.com]", "1.0", "This algorithm detects nearby LEDs seen by the camera and\n" "returns the X and Y coordinates on the sensor", "This algorithm detects nearby LEDs seen by the camera and\n" "returns the X and Y coordinates on the sensor", "Under development")
	REGISTER_CAMERA_SENSOR_ALGORITHM (CCameraSensorLEDDetectorAlgorithm, "led_detector", "Michael Allwright [allsey87@gmail.com]", "1.0", "This algorithm detects nearby LEDs seen by the camera and\n" "returns the X and Y coordinates on the sensor", "This algorithm detects nearby LEDs seen by the camera and\n" "returns the X and Y coordinates on the sensor", "Under development")
	REGISTER_CAMERA_SENSOR_ALGORITHM (CCameraSensorTagDetectorAlgorithm, "tag_detector", "Michael Allwright [allsey87@gmail.com]", "1.0", "This algorithm detects nearby tags seen by the camera and\n" "returns the coordinates of their corners to the sensor", "This algorithm detects nearby tags seen by the camera and\n" "returns the coordinates of their corners to the sensor", "Under development")
	REGISTER_SENSOR (CColoredBlobOmnidirectionalCameraRotZOnlySensor, "colored_blob_omnidirectional_camera", "rot_z_only", "Carlo Pinciroli [ilpincy@gmail.com]", "1.0", "A generic omnidirectional camera sensor to detect colored blobs.", "This sensor accesses an omnidirectional camera that detects colored blobs. The\n" "sensor returns a list of blobs, each defined by a color and a position with\n" "respect to the robot reference point on the ground. In controllers, you must\n" "include the ci_colored_blob_omnidirectional_camera_sensor.h header.\n\n" "This sensor is disabled by default, and must be enabled before it can be\n" "used.\n\n" "REQUIRED XML CONFIGURATION\n\n" " <controllers>\n" " ...\n" " <my_controller ...>\n" " ...\n" " <sensors>\n" " ...\n" " <colored_blob_omnidirectional_camera implementation=\"rot_z_only\"\n" " medium=\"leds\" />\n" " ...\n" " </sensors>\n" " ...\n" " </my_controller>\n" " ...\n" " </controllers>\n\n" "The 'medium' attribute must be set to the id of the leds medium declared in the\n" "<media> section.\n\n" "OPTIONAL XML CONFIGURATION\n\n" "It is possible to draw the rays shot by the camera 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" " <colored_blob_omnidirectional_camera implementation=\"rot_z_only\"\n" " medium=\"leds\" />\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 blobs, thus matching the\n" "characteristics of a real robot better. This can be done with the attribute\n" "\"noise_std_dev\".\n\n" " <controllers>\n" " ...\n" " <my_controller ...>\n" " ...\n" " <sensors>\n" " ...\n" " <colored_blob_omnidirectional_camera implementation=\"rot_z_only\"\n" " medium=\"leds\" />\n" " noise_std_dev=\"0.1\" />\n" " ...\n" " </sensors>\n" " ...\n" " </my_controller>\n" " ...\n" " </controllers>\n\n" "OPTIMIZATION HINTS\n\n" "1. For small swarms, enabling the sensor (and therefore causing ARGoS to\n" " update its readings each timestep) unconditionally does not impact performance too\n" " much. For large swarms, it can impact performance, and selectively\n" " enabling/disabling the sensor according to when each individual robot needs it\n" " (e.g., only when it is looking for an LED equipped entity) can increase performance\n" " by only requiring ARGoS to update the readings on timesteps they will be used.\n", "Usable")
	REGISTER_SENSOR (CColoredBlobPerspectiveCameraDefaultSensor, "colored_blob_perspective_camera", "default", "Carlo Pinciroli [ilpincy@gmail.com]", "1.0", "A generic perspective camera sensor to detect colored blobs.", "This sensor accesses an perspective camera that detects colored blobs. The\n" "sensor returns a list of blobs, each defined by a color and a position with\n" "respect to the robot reference point on the ground. In controllers, you must\n" "include the ci_colored_blob_perspective_camera_sensor.h header.\n\n" "This sensor is disabled by default, and must be enabled before it can be\n" "used.\n\n" "REQUIRED XML CONFIGURATION\n\n" " <controllers>\n" " ...\n" " <my_controller ...>\n" " ...\n" " <sensors>\n" " ...\n" " <colored_blob_perspective_camera implementation=\"default\"\n" " medium=\"leds\" />\n" " ...\n" " </sensors>\n" " ...\n" " </my_controller>\n" " ...\n" " </controllers>\n\n" "The 'medium' attribute must be set to the id of the leds medium declared in the\n" "<media> section.\n\n" "OPTIONAL XML CONFIGURATION\n\n" "It is possible to draw the rays shot by the camera 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" " <colored_blob_perspective_camera implementation=\"default\"\n" " medium=\"leds\" />\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 blobs, thus matching the\n" "characteristics of a real robot better. This can be done with the attribute\n" "\"noise_std_dev\".\n\n" " <controllers>\n" " ...\n" " <my_controller ...>\n" " ...\n" " <sensors>\n" " ...\n" " <colored_blob_perspective_camera implementation=\"default\"\n" " medium=\"leds\" />\n" " noise_std_dev=\"0.1\" />\n" " ...\n" " </sensors>\n" " ...\n" " </my_controller>\n" " ...\n" " </controllers>\n", "Usable")
	REGISTER_SENSOR (CDifferentialSteeringDefaultSensor, "differential_steering", "default", "Carlo Pinciroli [ilpincy@gmail.com]", "1.0", "A generic differential steering sensor.", "This sensor returns the current position and orientation of a robot. This sensor\n" "can be used with any robot, since it accesses only the body component. In\n" "controllers, you must include the ci_differential_steering_sensor.h header.\n\n" "This sensor is enabled by default.\n\n" "REQUIRED XML CONFIGURATION\n\n" " <controllers>\n" " ...\n" " <my_controller ...>\n" " ...\n" " <sensors>\n" " ...\n" " <differential_steering implementation=\"default\" />\n" " ...\n" " </sensors>\n" " ...\n" " </my_controller>\n" " ...\n" " </controllers>\n\n" "OPTIONAL XML CONFIGURATION\n\n" "It is possible to add uniform noise to the sensor, thus matching the\n" "characteristics of a real robot better. You can add noise through the\n" "attributes 'vel_noise_range' and 'dist_noise_range'.\n" "Attribute 'vel_noise_range' regulates the noise range on the velocity returned\n" "by the sensor. Attribute 'dist_noise_range' sets the noise range on the\n" "distance covered by the wheels.\n\n" " <controllers>\n" " ...\n" " <my_controller ...>\n" " ...\n" " <sensors>\n" " ...\n" " <differential_steering implementation=\"default\"\n" " vel_noise_range=\"-0.1:0.2\"\n" " dist_noise_range=\"-10.5:13.7\" />\n" " ...\n" " </sensors>\n" " ...\n" " </my_controller>\n" " ...\n" " </controllers>\n\n", "Usable")
	REGISTER_ACTUATOR (CDirectionalLEDsDefaultActuator, "directional_leds", "default", "Michael Allwright [allsey87@gmail.com]", "1.0", "The directional LEDs actuator.", "This actuator controls a group of directional LEDs. For a complete description\n" "of its usage, refer to the ci_leds_actuator.h file.\n\n" "REQUIRED XML CONFIGURATION\n\n" " <controllers>\n" " ...\n" " <my_controller ...>\n" " ...\n" " <actuators>\n" " ...\n" " <leds implementation=\"default\" />\n" " ...\n" " </actuators>\n" " ...\n" " </my_controller>\n" " ...\n" " </controllers>\n\n" "The 'medium' attribute sets the id of the LED medium declared in the <media>\n" "XML section.\n\n" "OPTIONAL XML CONFIGURATION\n\n" "None.\n", "Usable")
	REGISTER_SENSOR (CGroundRotZOnlySensor, "ground", "rot_z_only", "Carlo Pinciroli [ilpincy@gmail.com]", "1.0", "A generic ground sensor (optimized for 2D).", "This sensor accesses a set of ground sensors. The sensors all return a value\n" "between 0 and 1, where 0 means black and 1 means white. Depending on the type\n" "of ground sensor, readings can either take 0 or 1 as value (bw sensors) or a\n" "value in between (grayscale sensors). In controllers, you must include the\n" "ci_ground_sensor.h header.\n\n" "This sensor is enabled by default.\n\n" "REQUIRED XML CONFIGURATION\n\n" " <controllers>\n" " ...\n" " <my_controller ...>\n" " ...\n" " <sensors>\n" " ...\n" " <ground 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 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" " <ground implementation=\"rot_z_only\"\n" " noise_level=\"0.1\" />\n" " ...\n" " </sensors>\n" " ...\n" " </my_controller>\n" " ...\n" " </controllers>\n\n", "Usable")
	REGISTER_SENSOR (CLightDefaultSensor, "light", "default", "Carlo Pinciroli [ilpincy@gmail.com]", "1.0", "A generic light sensor.", "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" "This sensor is enabled by default.\n\n" "REQUIRED XML CONFIGURATION\n\n" " <controllers>\n" " ...\n" " <my_controller ...>\n" " ...\n" " <sensors>\n" " ...\n" " <light implementation=\"default\" />\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" " <light implementation=\"default\"\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" " <light implementation=\"default\"\n" " noise_level=\"0.1\" />\n" " ...\n" " </sensors>\n" " ...\n" " </my_controller>\n" " ...\n" " </controllers>\n\n" "OPTIMIZATION HINTS\n\n" "1. For small swarms, enabling the light sensor (and therefore causing ARGoS to\n" " update its readings each timestep) unconditionally does not impact performance too\n" " much. For large swarms, it can impact performance, and selectively\n" " enabling/disabling the light sensor according to when each individual robot needs it\n" " (e.g., only when it is returning to the nest from foraging) can increase performance\n" " by only requiring ARGoS to update the readings for a robot on the timesteps will be\n" " used.\n", "Usable")
	REGISTER_ACTUATOR (CMagnetsDefaultActuator, "magnets", "default", "Michael Allwright [allsey87@gmail.com]", "1.0", "The (electro)magnet actuator.", "This actuator is used to modify the magnetic field of a magnet entity in the\n" "simulation. A magnetic entity has a passive and an active field. The overall\n" "field of a magnetic entity is calculated as:\n\n" " field = passive_field + (current x active_field)\n\n" "This actuator allows you to set the current, a scalar multiplier of the active\n" "field.\n\n" "REQUIRED XML CONFIGURATION\n\n" " <controllers>\n" " ...\n" " <my_controller ...>\n" " ...\n" " <actuators>\n" " ...\n" " <magnets implementation=\"default\"/>\n" " ...\n" " </actuators>\n" " ...\n" " </my_controller>\n" " ...\n" " </controllers>\n\n" "OPTIONAL XML CONFIGURATION\n\n" "None.\n", "Under development")
	REGISTER_SENSOR (CPositioningDefaultSensor, "positioning", "default", "Carlo Pinciroli [ilpincy@gmail.com]", "1.0", "A generic positioning sensor.", "This sensor returns the current position and orientation of a robot. This sensor\n" "can be used with any robot, since it accesses only the body component. In\n" "controllers, you must include the ci_positioning_sensor.h header.\n\n" "This sensor is enabled by default.\n\n" "REQUIRED XML CONFIGURATION\n\n" " <controllers>\n" " ...\n" " <my_controller ...>\n" " ...\n" " <sensors>\n" " ...\n" " <positioning implementation=\"default\" />\n" " ...\n" " </sensors>\n" " ...\n" " </my_controller>\n" " ...\n" " </controllers>\n\n" "OPTIONAL XML CONFIGURATION\n\n" "It is possible to add uniform noise to the sensor, thus matching the\n" "characteristics of a real robot better. You can add noise through the\n" "attributes 'pos_noise_range', 'angle_noise_range', and 'axis_noise_range'.\n" "Attribute 'pos_noise_range' regulates the noise range on the position returned\n" "by the sensor. Attribute 'angle_noise_range' sets the noise range on the angle\n" "(values expressed in degrees). Attribute 'axis_noise_range' sets the noise for\n" "the rotation axis. Angle and axis are used to calculate a quaternion, which is\n" "the actual returned value for rotation.\n\n" " <controllers>\n" " ...\n" " <my_controller ...>\n" " ...\n" " <sensors>\n" " ...\n" " <positioning implementation=\"default\"\n" " pos_noise_range=\"-0.1:0.2\"\n" " angle_noise_range=\"-10.5:13.7\"\n" " axis_noise_range=\"-0.3:0.4\" />\n" " ...\n" " </sensors>\n" " ...\n" " </my_controller>\n" " ...\n" " </controllers>\n\n" "OPTIONAL XML CONFIGURATION\n\n" "None.\n", "Usable")
	REGISTER_SENSOR (CProximityDefaultSensor, "proximity", "default", "Carlo Pinciroli [ilpincy@gmail.com]", "1.0", "A generic proximity sensor.", "This sensor accesses a set of proximity sensors. The sensors all return a value\n" "between 0 and 1, where 0 means nothing within range and 1 means an external\n" "object is touching the sensor. Values between 0 and 1 depend on the distance of\n" "the occluding object, and are calculated as value=exp(-distance). In\n" "controllers, you must include the ci_proximity_sensor.h header.\n\n" "This sensor is enabled by default.\n\n" "REQUIRED XML CONFIGURATION\n\n" " <controllers>\n" " ...\n" " <my_controller ...>\n" " ...\n" " <sensors>\n" " ...\n" " <proximity implementation=\"default\" />\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 proximity 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" " <proximity implementation=\"default\"\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" " <proximity implementation=\"default\"\n" " noise_level=\"0.1\" />\n" " ...\n" " </sensors>\n" " ...\n" " </my_controller>\n" " ...\n" " </controllers>\n\n", "Usable")
	REGISTER_ACTUATOR (CRadiosDefaultActuator, "radios", "default", "Michael Allwright [allsey87@gmail.com]", "1.0", "A generic radio actuator to send messages to nearby radios.", "This radio actuator implementation allows an arbitary number of messages\n" "containing an arbitary number of bytes to be sent to nearby radios. The\n" "implementation of this actuator is very basic and any concepts such as\n" "throughput, addressing, or formatting of a message's contents is beyond the\n" "scope of this actuator's implementation.\n\n" "REQUIRED XML CONFIGURATION\n\n" " <controllers>\n" " ...\n" " <my_controller ...>\n" " ...\n" " <actuators>\n" " ...\n" " <radios implementation=\"default\" medium=\"radios\" />\n" " ...\n" " </actuators>\n" " ...\n" " </my_controller>\n" " ...\n" " </controllers>\n\n" "The 'medium' attribute sets the id of the radio medium declared in the <media>\n" "XML section.\n\n" "OPTIONAL XML CONFIGURATION\n\n" "None.\n", "Usable")
	REGISTER_SENSOR (CRadiosDefaultSensor, "radios", "default", "Michael Allwright [allsey87@gmail.com]", "1.0", "A generic radio sensor to receive messages from nearby radios.", "This radio sensor implementation allows an arbitary number of messages\n" "containing an arbitary number of bytes to be received from nearby robots. The\n" "implementation is very basic and any concepts such as throughput, addressing,\n" "or formatting of a message's contents is beyond the scope of this sensor's\n" "implementation\n\n" "This sensor is enabled by default.\n\n" "REQUIRED XML CONFIGURATION\n\n" " <controllers>\n" " ...\n" " <my_controller ...>\n" " ...\n" " <sensors>\n" " ...\n" " <radios implementation=\"default\" medium=\"radios\" />\n" " ...\n" " </sensors>\n" " ...\n" " </my_controller>\n" " ...\n" " </controllers>\n\n" "The 'medium' attribute sets the id of the radio medium declared in the <media>\n" "XML section.\n\n" "OPTIONAL XML CONFIGURATION\n\n" "None.\n", "Usable")
	REGISTER_ACTUATOR (CRangeAndBearingDefaultActuator, "range_and_bearing", "default", "Carlo Pinciroli [ilpincy@gmail.com]", "1.0", "The range and bearing actuator.", "This actuator allows robots to perform situated communication, i.e., a form of\n" "wireless communication whereby the receiver also knows the location of the\n" "sender with respect to its own frame of reference.\n" "This actuator allows a robot to send messages. To receive messages, you need\n" "the range-and-bearing sensor.\n" "To use this actuator, in controllers you must include the\n" "ci_range_and_bearing_actuator.h header.\n\n" "REQUIRED XML CONFIGURATION\n\n" " <controllers>\n" " ...\n" " <my_controller ...>\n" " ...\n" " <actuators>\n" " ...\n" " <range_and_bearing implementation=\"default\" />\n" " ...\n" " </actuators>\n" " ...\n" " </my_controller>\n" " ...\n" " </controllers>\n\n" "OPTIONAL XML CONFIGURATION\n\n" "None.\n", "Usable")
	REGISTER_SENSOR (CRangeAndBearingMediumSensor, "range_and_bearing", "medium", "Carlo Pinciroli [ilpincy@gmail.com]", "1.0", "The range-and-bearing sensor.", "This sensor allows robots to perform situated communication, i.e., a form of\n" "wireless communication whereby the receiver also knows the location of the\n" "sender with respect to its own frame of reference.\n" "This implementation of the range-and-bearing sensor is associated to the\n" "range-and-bearing medium. To be able to use this sensor, you must add a\n" "range-and-bearing medium to the <media> section.\n" "This sensor allows a robot to receive messages. To send messages, you need the\n" "range-and-bearing actuator.\n" "To use this sensor, in controllers you must include the\n" "ci_range_and_bearing_sensor.h header.\n\n" "This sensor is enabled by default.\n\n" "REQUIRED XML CONFIGURATION\n\n" " <controllers>\n" " ...\n" " <my_controller ...>\n" " ...\n" " <sensors>\n" " ...\n" " <range_and_bearing implementation=\"medium\"\n" " medium=\"rab\" />\n" " ...\n" " </sensors>\n" " ...\n" " </my_controller>\n" " ...\n" " </controllers>\n\n" "The 'medium' attribute must be set to the id of the range-and-bearing medium\n" "declared in the <media> section.\n\n" "OPTIONAL XML CONFIGURATION\n\n" "It is possible to draw the rays shot by the range-and-bearing sensor in the\n" "OpenGL visualization. This can be useful for sensor debugging but also to\n" "understand what's wrong in your controller. In OpenGL, the rays are drawn in\n" "cyan when two robots are communicating.\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" " <range_and_bearing implementation=\"medium\"\n" " medium=\"rab\"\n" " show_rays=\"true\" />\n" " ...\n" " </sensors>\n" " ...\n" " </my_controller>\n" " ...\n" " </controllers>\n\n" "It is possible to add noise to the readings, thus matching the characteristics\n" "of a real robot better. Noise is implemented as a random vector added to the\n" "vector joining two communicating robots. For the random vector, the inclination\n" "and azimuth are chosen uniformly in the range [0:PI] and [0:2PI], respectively,\n" "and the length is drawn from a Gaussian distribution. The standard deviation of\n" "the Gaussian distribution is expressed in meters and set by the user through\n" "the attribute 'noise_std_dev' as shown in this example:\n\n" " <controllers>\n" " ...\n" " <my_controller ...>\n" " ...\n" " <sensors>\n" " ...\n" " <range_and_bearing implementation=\"medium\"\n" " medium=\"rab\"\n" " noise_std_dev=\"0.1\" />\n" " ...\n" " </sensors>\n" " ...\n" " </my_controller>\n" " ...\n" " </controllers>\n\n" "In addition, it is possible to specify the probability that a packet gets lost\n" "even though the robot should have received it (i.e., packet dropping). To set\n" "this probability, use the attribute 'packet_drop_prob' as shown in the example:\n" " <controllers>\n" " ...\n" " <my_controller ...>\n" " ...\n" " <sensors>\n" " ...\n" " <range_and_bearing implementation=\"medium\"\n" " medium=\"rab\"\n" " packet_drop_prob=\"0.1\" />\n" " ...\n" " </sensors>\n" " ...\n" " </my_controller>\n" " ...\n" " </controllers>\n", "Usable")
	REGISTER_ACTUATOR (CTagsDefaultActuator, "tags", "default", "Michael Allwright [allsey87@gmail.com]", "1.0", "The tags actuator.", "This actuator controls the payloads of a group of tags. The idea" "is to represent an LCD screen that displays different tags. For a" "complete description of its usage, refer to the ci_tags_actuator.h" " file.\n\n" "REQUIRED XML CONFIGURATION\n\n" " <controllers>\n" " ...\n" " <my_controller ...>\n" " ...\n" " <actuators>\n" " ...\n" " <tags implementation=\"default\" />\n" " ...\n" " </actuators>\n" " ...\n" " </my_controller>\n" " ...\n" " </controllers>\n\n" "OPTIONAL XML CONFIGURATION\n\n" "None.\n", "Usable")
	REGISTER_ENTITY (CMiniQuadrotorEntity, "mini-quadrotor", "Carlo Pinciroli [ilpincy@gmail.com]", "1.0", "The mini-quadrotor robot, developed at UPenn.", "The mini-quadrotor is a fluing robot developed at UPenn by Vijay Kumar's group.\n" "It is a very agile robot, able to perform fast and precise movements.\n\n" "REQUIRED XML CONFIGURATION\n\n" " <arena ...>\n" " ...\n" " <mini-quadrotor id=\"mq0\">\n" " <body position=\"0.4,2.3,2.0\" orientation=\"45,0,0\" />\n" " <controller config=\"mycntrl\" />\n" " </mini-quadrotor>\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 'body/position' attribute specifies the position of the bottom point of the\n" "mini-quadrotor in the arena. When the robot is untranslated and unrotated, the\n" "bottom point is in the origin and it is defined as the middle point between\n" "the two wheels on the XY plane and the lowest point of the robot on the Z\n" "axis, that is the point where the wheels touch the floor. The attribute values\n" "are in the X,Y,Z order.\n" "The 'body/orientation' attribute specifies the orientation of the\n" "mini-quadrotor. All rotations are performed with respect to the bottom point.\n" "The order of the angles is Z,Y,X, which means that the first number corresponds\n" "to the rotation around the Z axis, the second around Y and the last around X.\n" "This reflects the internal convention used in ARGoS, in which rotations are\n" "performed in that order. Angles are expressed in degrees. When the robot is\n" "unrotated, it is oriented along the X axis.\n" "The 'controller/config' attribute is used to assign a controller to the\n" "mini-quadrotor. The value of the attribute must be set to the id of a previously\n" "defined controller. Controllers are defined in the <controllers> XML subtree.\n\n" "OPTIONAL XML CONFIGURATION\n\n" "None.\n\n", "Under development")
	REGISTER_STANDARD_SPACE_OPERATIONS_ON_COMPOSABLE (CMiniQuadrotorEntity)
	REGISTER_STANDARD_PHYSX_OPERATIONS_ON_ENTITY (CMiniQuadrotorEntity, CPhysXMiniQuadrotorModel)
	REGISTER_QTOPENGL_ENTITY_OPERATION (CQTOpenGLOperationDrawNormal, CQTOpenGLOperationDrawMiniQuadrotorNormal, CMiniQuadrotorEntity)
	REGISTER_QTOPENGL_ENTITY_OPERATION (CQTOpenGLOperationDrawSelected, CQTOpenGLOperationDrawMiniQuadrotorSelected, CMiniQuadrotorEntity)
	REGISTER_STANDARD_DYNAMICS3D_OPERATIONS_ON_ENTITY (CPrototypeEntity, CDynamics3DPrototypeModel)
	REGISTER_ENTITY (CPrototypeEntity, "prototype", "1.0", "Michael Allwright [allsey87@gmail.com]", "A generic and configurable entity", "The prototyping entity allows users to quickly implement new entities using an\n" "experiment's configuration file. A prototype entity is predominantly described\n" "as a set of links connected through joints. The joints can be fixed, prismatic,\n" "revolute, spherical, or planar. Sensors and actuators for prismatic and revolute\n" "joints are provided. Since each link defines an anchor in the embodied entity,\n" "it is also possible to attach the following entities to any link in the model:\n" "the directional LED entity, the LED entity, the magnet entity, the tag entity,\n" "the radio entity, and the proximity sensor equipped entity.\n\n" "REQUIRED XML CONFIGURATION\n\n" " <arena ...>\n" " ...\n" " <prototype id=\"pt0\" movable=\"true\">\n" " <body position=\"0.1,0.1,0.0\" orientation=\"45,0,0\" />\n" " <links ref=\"base\">\n" " <link id=\"base\" geometry=\"box\" size=\"0.1,0.1,0.1\"\n" " mass=\"1\" position=\"0,0,0\" orientation=\"0,0,0\" />\n" " </prototype>\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 the initialization aborts and the simulator will\n" "terminate. The movable attribute defines whether the reference link of a robot\n" "is fixed or not. This attribute is useful, for example, if you want to model a\n" "robotic arm whose links are movable, but where there is one link (i.e. the\n" "reference link) that is fixed to the ground, a wall, or the ceiling.\n" "The body tag defines the position and orientation of the prototype entity in the\n" "global coordinate system. The most simple entity contains a single link and no\n" "joints. An important detail to note is the 'ref' attribute of the links node.\n" "This attribute specifies which link is to be used to refer to the prototype\n" "entity's location. The example in the required configuration defines a single\n" "link with a box geometry. Three geometries for links are currently supported:\n" "boxes, cylinders, and spheres. The size of a box is defined using the size\n" "attribute while cylinders and spheres are defined using a radius attribute and a\n" "height attribute in the case of the cylinder. The mass of each link must be\n" "defined and specified in kilograms. The position and orientation of each link\n" "refer to the offset of the link in the entity's local coordinate system.\n\n" "OPTIONAL XML CONFIGURATION\n\n" "In the following example, additional links and joints are added to a prototype\n" "entity to form a small four-wheeled vehicle.\n\n" " <arena ...>\n" " ...\n" " <prototype id=\"vehicle\" movable=\"true\">\n" " <body position=\"0,0,0\" orientation=\"0,0,0\" />\n" " <links ref=\"base\">\n" " <link id=\"base\" geometry=\"box\" size=\"0.1,0.05,0.02\" mass=\"1\"\n" " position=\"0,0,0.01\" orientation=\"0,0,0\" />\n" " <link id=\"wheel_fl\" geometry=\"cylinder\" radius=\"0.02\" height=\".005\"\n" " mass=\".05\" position=\".025,.025,0.02\" orientation=\"0,0,-90\" />\n" " <link id=\"wheel_fr\" geometry=\"cylinder\" radius=\"0.02\" height=\".005\"\n" " mass=\".05\" position=\".025,-.025,0.02\" orientation=\"0,0,90\" />\n" " <link id=\"wheel_br\" geometry=\"cylinder\" radius=\"0.02\" height=\".005\"\n" " mass=\".05\" position=\"-.025,-.025,0.02\" orientation=\"0,0,90\" />\n" " <link id=\"wheel_bl\" geometry=\"cylinder\" radius=\"0.02\" height=\".005\"\n" " mass=\".05\" position=\"-.025,.025,0.02\" orientation=\"0,0,-90\" />\n" " </links>\n" " <joints>\n" " <joint id=\"base_wheel_fr\" type=\"revolute\" axis=\"0,0,1\">\n" " <parent link=\"base\" position=\".025,-.025,.01\" orientation=\"0,0,90\"/>\n" " <child link=\"wheel_fr\" position=\"0,0,0\" orientation=\"0,0,0\"/>\n" " </joint>\n" " <joint id=\"base_wheel_fl\" type=\"revolute\" axis=\"0,0,1\">\n" " <parent link=\"base\" position=\".025,.025,.01\" orientation=\"0,0,-90\"/>\n" " <child link=\"wheel_fl\" position=\"0,0,0\" orientation=\"0,0,0\"/>\n" " </joint>\n" " <joint id=\"base_wheel_br\" type=\"revolute\" axis=\"0,0,1\">\n" " <parent link=\"base\" position=\"-.025,-.025,.01\" orientation=\"0,0,90\"/>\n" " <child link=\"wheel_br\" position=\"0,0,0\" orientation=\"0,0,0\"/>\n" " </joint>\n" " <joint id=\"base_wheel_bl\" type=\"revolute\" axis=\"0,0,1\">\n" " <parent link=\"base\" position=\"-.025,.025,.01\" orientation=\"0,0,-90\"/>\n" " <child link=\"wheel_bl\" position=\"0,0,0\" orientation=\"0,0,0\"/>\n" " </joint>\n" " </joints>\n" " </prototype>\n" " ...\n" " </arena>\n\n" "In this example, there are five links: the base of the vehicle and four wheels.\n" "The wheels are attached to the base using revolute joints. The joint node\n" "requires the joint type attribute and in the case of prismatic and revolute\n" "joints an axis which defines the joint's degree of freedom. In addition to the\n" "axis attribute, prismatic and revolute joints can also be limited using the\n" "limit attribute. In the case of prismatic joints, this value is interpreted as a\n" "range in meters and in the case of revolute joints, this value is interpreted as\n" "a range in degrees. The maximum and minimum values must be separated with the\n" "colon character. The joint node requires two child nodes, namely the parent and\n" "child nodes which describe the links involved in the joint. Each of these nodes\n" "also specifies a position and an orientation, which defines the offset from the\n" "link's local coordinate system to the joint's reference frame. Note that the\n" "prototype entity is consistent with ARGoS conventions and the origin of all\n" "coordinate systems is at the base of an entity and not at its center of mass.\n" "Prismatic and revolute joints support sensors and actuators which can control\n" "and monitor the position and velocity of a joint. Refer to the documentation on\n" "the joints sensor and joints actuator by querying the joints plugin. It is also\n" "possible to attach any number of devices to the links in a prototype entity:\n\n" " <arena ...>\n" " ...\n" " <prototype id=\"block\" movable=\"true\">\n" " <body position=\"0,0,0\" orientation=\"0,0,0\" />\n" " <links ref=\"base\">\n" " <link id=\"base\" geometry=\"box\" size=\".015,.015,.015\" mass=\"0.1\"\n" " position=\"0,0,0\" orientation=\"0,0,0\" />\n" " </links>\n" " <devices>\n" " <directional_leds medium=\"leds\">\n" " <directional_led anchor=\"base\" color=\"red\" observable_angle=\"180\"\n" " position=\"0,0,.0155\" orientation=\"0,0,0\"/>\n" " </directional_leds>\n" " <tags medium=\"tags\">\n" " <tag position=\"0,0,.0155\" orientation=\"0,0,0\" payload=\"0\"\n" " side_length=\".01\" observable_angle=\"180\" anchor=\"base\"/>\n" " </tags>\n" " <radios medium=\"nfc\">\n" " <radio anchor=\"base\" duplex_mode=\"half\" range=\"1\"\n" " position=\"0,0,0.0075\"/>\n" " </radios>\n" " </devices>\n" " </prototype>\n" " ...\n" " </arena>\n\n" "Each of these devices has three attributes in common: an anchor, a position, and\n" "an orientation. Using these attributes you can attach any number of these\n" "entities to any link in the prototype entity since each link creates an anchor.\n" "In addition to these attributes, the entities have some attributes that define\n" "their characteristics. For example, tags have a side length and payload, while\n" "the directional LED has a color. The three devices in the example all require\n" "mediums. These mediums index the entities and allow them to be detected by\n" "sensors.", "Usable")
	REGISTER_STANDARD_SPACE_OPERATIONS_ON_COMPOSABLE (CPrototypeEntity)
	REGISTER_STANDARD_SPACE_OPERATIONS_ON_COMPOSABLE (CPrototypeJointEntity)
	REGISTER_STANDARD_SPACE_OPERATIONS_ON_COMPOSABLE (CPrototypeJointEquippedEntity)
	REGISTER_ACTUATOR (CPrototypeJointsDefaultActuator, "joints", "default", "Michael Allwright [allsey87@gmail.com]", "1.0", "The prototype joints actuator: controls a prototype entity's joints.", "This actuator is used to control the joints inside a prototype entity. To\n" "control a joint, add a joint child node to the joints node. Each child node has\n" "three attributes, all of which are required.\n\n" "REQUIRED XML CONFIGURATION\n\n" " <controllers>\n" " ...\n" " <my_controller ...>\n" " ...\n" " <actuators>\n" " ...\n" " <joints implementation=\"default\">\n" " <joint id=\"joint0\" mode=\"velocity\" max_impulse=\"0.002f\"/>\n" " <joint id=\"joint1\" mode=\"position\" max_impulse=\"0.005f\"/>\n" " ...\n" " </joints>\n" " ...\n" " </actuators>\n" " ...\n" " </my_controller>\n" " ...\n" " </controllers>\n\n" "The 'id' attribute specifies which joint in the prototype joint equipped entity\n" "we are interested in controlling. The 'mode' attribute has three options:\n" "disabled, position, and velocity. The disabled mode is self-explanatory. The\n" "position and velocity modes enable closed loop position control and closed loop\n" "velocity control. The 'max_impulse' attribute defines the maximum impulse of\n" "the actuator in kg m/s for prismatic joints and kg m^2/s for revolute joints.\n\n" "OPTIONAL XML CONFIGURATION\n\n" "None.", "Usable")
	REGISTER_SENSOR (CPrototypeJointsDefaultSensor, "joints", "default", "Michael Allwright [allsey87@gmail.com]", "1.0", "The prototype joints sensor: monitors a prototype entity's joints.", "This sensor is used to monitor the joints inside a prototype entity. To monitor\n" "a joint, add a joint child node to the joints node. Each child node has two\n" "required attributes.\n\n" "This sensor is enabled by default.\n\n" "REQUIRED XML CONFIGURATION\n\n" " <controllers>\n" " ...\n" " <my_controller ...>\n" " ...\n" " <sensors>\n" " ...\n" " <joints implementation=\"default\">\n" " <joint id=\"joint0\" mode=\"velocity\" />\n" " <joint id=\"joint1\" mode=\"position\" />\n" " ...\n" " </joints>\n" " ...\n" " </sensors>\n" " ...\n" " </my_controller>\n" " ...\n" " </controllers>\n\n" "The 'id' attribute specifies which joint in the prototype joint equipped entity\n" "we are interested in monitoring. The 'mode' attribute has three options:\n" "disabled, position, and velocity. The disabled mode is self-explanatory. The\n" "position mode measures the displacement of the joint from its initial position\n" "or orientation (depending on whether the specified joint is prismatic or\n" "revolute). The reading from the joint is reported in either meters or radians\n" "respectively. The velocity mode measures the how much the position or\n" "orientation of the joint is changing every second.\n\n" "OPTIONAL XML CONFIGURATION\n\n" "None.", "Usable")
	REGISTER_STANDARD_SPACE_OPERATIONS_ON_ENTITY (CPrototypeLinkEntity)
	REGISTER_STANDARD_SPACE_OPERATIONS_ON_COMPOSABLE (CPrototypeLinkEquippedEntity)
	REGISTER_ENTITY_OPERATION (CQTOpenGLOperationDrawNormal, CQTOpenGLWidget, CQTOpenGLOperationDrawPrototypeNormal, void, CPrototypeEntity)
	REGISTER_ENTITY_OPERATION (CQTOpenGLOperationDrawSelected, CQTOpenGLWidget, CQTOpenGLOperationDrawPrototypeSelected, void, CPrototypeEntity)
	REGISTER_STANDARD_POINTMASS3D_OPERATIONS_ON_ENTITY (CSpiriEntity, CPointMass3DSpiriModel)
	REGISTER_QTOPENGL_ENTITY_OPERATION (CQTOpenGLOperationDrawNormal, CQTOpenGLOperationDrawSpiriNormal, CSpiriEntity)
	REGISTER_QTOPENGL_ENTITY_OPERATION (CQTOpenGLOperationDrawSelected, CQTOpenGLOperationDrawSpiriSelected, CSpiriEntity)
	REGISTER_ENTITY (CSpiriEntity, "spiri", "Carlo Pinciroli [ilpincy@gmail.com]", "1.0", "The spiri robot, developed by Pleiades Robotics.", "The spiri is a quad-rotor developed by Pleiades Robotics. It is a\n" "fully autonomous robot with a rich set of sensors and actuators. For more\n" "information, refer to the dedicated web page (http://www.pleaides.ca/).\n\n" "REQUIRED XML CONFIGURATION\n\n" " <arena ...>\n" " ...\n" " <spiri id=\"sp0\">\n" " <body position=\"0.4,2.3,0.25\" orientation=\"45,0,0\" />\n" " <controller config=\"mycntrl\" />\n" " </spiri>\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 'body/position' attribute specifies the position of the bottom point of the\n" "spiri in the arena. When the robot is untranslated and unrotated, the\n" "bottom point is in the origin and it is defined as the middle point between\n" "the two wheels on the XY plane and the lowest point of the robot on the Z\n" "axis, that is the point where the wheels touch the floor. The attribute values\n" "are in the X,Y,Z order.\n" "The 'body/orientation' attribute specifies the orientation of the spiri. All\n" "rotations are performed with respect to the bottom point. The order of the\n" "angles is Z,Y,X, which means that the first number corresponds to the rotation\n" "around the Z axis, the second around Y and the last around X. This reflects\n" "the internal convention used in ARGoS, in which rotations are performed in\n" "that order. Angles are expressed in degrees. When the robot is unrotated, it\n" "is oriented along the X axis.\n" "The 'controller/config' attribute is used to assign a controller to the\n" "spiri. The value of the attribute must be set to the id of a previously\n" "defined controller. Controllers are defined in the <controllers> XML subtree.\n\n" "OPTIONAL XML CONFIGURATION\n\n" "You can set the emission range of the range-and-bearing system. By default, a\n" "message sent by an spiri can be received up to 3m. By using the 'rab_range'\n" "attribute, you can change it to, i.e., 4m as follows:\n\n" " <arena ...>\n" " ...\n" " <spiri id=\"sp0\" rab_range=\"4\">\n" " <body position=\"0.4,2.3,0.25\" orientation=\"45,0,0\" />\n" " <controller config=\"mycntrl\" />\n" " </spiri>\n" " ...\n" " </arena>\n\n" "You can also set the data sent at each time step through the range-and-bearing\n" "system. By default, a message sent by a spiri is 10 bytes long. By using the\n" "'rab_data_size' attribute, you can change it to, i.e., 20 bytes as follows:\n\n" " <arena ...>\n" " ...\n" " <spiri id=\"sp0\" rab_data_size=\"20\">\n" " <body position=\"0.4,2.3,0.25\" orientation=\"45,0,0\" />\n" " <controller config=\"mycntrl\" />\n" " </spiri>\n" " ...\n" " </arena>\n\n" "You can also configure the battery of the robot. By default, the battery never\n" "depletes. You can choose among several battery discharge models, such as\n" "- time: the battery depletes by a fixed amount at each time step\n" "- motion: the battery depletes according to how the robot moves\n" "- time_motion: a combination of the above models.\n" "You can define your own models too. Follow the examples in the file\n" "argos3/src/plugins/simulator/entities/battery_equipped_entity.cpp.\n\n" " <arena ...>\n" " ...\n" " <spiri id=\"sp0\"\n" " <body position=\"0.4,2.3,0.25\" orientation=\"45,0,0\" />\n" " <controller config=\"mycntrl\" />\n" " <battery model=\"time\" factor=\"1e-5\"/>\n" " </spiri>\n" " ...\n" " </arena>\n\n" " <arena ...>\n" " ...\n" " <spiri id=\"sp0\"\n" " <body position=\"0.4,2.3,0.25\" orientation=\"45,0,0\" />\n" " <controller config=\"mycntrl\" />\n" " <battery model=\"motion\" pos_factor=\"1e-3\"\n" " orient_factor=\"1e-3\"/>\n" " </spiri>\n" " ...\n" " </arena>\n\n" " <arena ...>\n" " ...\n" " <spiri id=\"sp0\"\n" " <body position=\"0.4,2.3,0.25\" orientation=\"45,0,0\" />\n" " <controller config=\"mycntrl\" />\n" " <battery model=\"time_motion\" time_factor=\"1e-5\"\n" " pos_factor=\"1e-3\"\n" " orient_factor=\"1e-3\"/>\n" " </spiri>\n" " ...\n" " </arena>\n\n", "Under development")
	REGISTER_STANDARD_SPACE_OPERATIONS_ON_COMPOSABLE (CSpiriEntity)
	REGISTER_STANDARD_SPACE_OPERATIONS_ON_ENTITY (CBatteryEquippedEntity)
	REGISTER_BATTERY_DISCHARGE_MODEL (CBatteryDischargeModelTime, "time")
	REGISTER_BATTERY_DISCHARGE_MODEL (CBatteryDischargeModelMotion, "motion")
	REGISTER_BATTERY_DISCHARGE_MODEL (CBatteryDischargeModelTimeMotion, "time_motion")
	REGISTER_ENTITY (CBoxEntity, "box", "Carlo Pinciroli [ilpincy@gmail.com]", "1.0", "A stretchable 3D box.", "The box entity can be used to model walls, obstacles or box-shaped grippable\n" "objects. It can be movable or not. A movable object can be pushed and gripped.\n" "An unmovable object is pretty much like a wall.\n\n" "REQUIRED XML CONFIGURATION\n\n" "To declare an unmovable object (i.e., a wall) you need the following:\n\n" " <arena ...>\n" " ...\n" " <box id=\"box1\" size=\"0.75,0.1,0.5\" movable=\"false\">\n" " <body position=\"0.4,2.3,0\" orientation=\"45,0,0\" />\n" " </box>\n" " ...\n" " </arena>\n\n" "To declare a movable object you need the following:\n\n" " <arena ...>\n" " ...\n" " <box id=\"box1\" size=\"0.75,0.1,0.5\" movable=\"true\" mass=\"2.5\">\n" " <body position=\"0.4,2.3,0\" orientation=\"45,0,0\" />\n" " </box>\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 'size' attribute specifies the size of the box along the three axes, in\n" "the X,Y,Z order. When you add a box, imagine it initially unrotated and\n" "centered in the origin. The size, then, corresponds to the extent along the X,\n" "Y and Z axes.\n" "The 'movable' attribute specifies whether or not the object is movable. When\n" "set to 'false', the object is unmovable: if another object pushes against it,\n" "the box won't move. When the attribute is set to 'true', the box is movable\n" "upon pushing or gripping. When an object is movable, the 'mass' attribute is\n" "required.\n" "The 'mass' attribute quantifies the mass of the box in kg.\n" "The 'body/position' attribute specifies the position of the base of the box in\n" "the arena. The three values are in the X,Y,Z order.\n" "The 'body/orientation' attribute specifies the orientation of the 3D box. All\n" "rotations are performed with respect to the center of mass. The order of the\n" "angles is Z,Y,X, which means that the first number corresponds to the rotation\n" "around the Z axis, the second around Y and the last around X. This reflects\n" "the internal convention used in ARGoS, in which rotations are performed in\n" "that order. Angles are expressed in degrees.\n\n" "OPTIONAL XML CONFIGURATION\n\n" "It is possible to add any number of colored LEDs to the box. In this way,\n" "the box is visible with a robot camera. The position and color of the\n" "LEDs is specified with the following syntax:\n\n" " <arena ...>\n" " ...\n" " <box id=\"box1\" size=\"0.75,0.1,0.5\" movable=\"true\" mass=\"2.5\">\n" " <body position=\"0.4,2.3,0\" orientation=\"45,0,0\" />\n" " <leds medium=\"id_of_led_medium\">\n" " <led offset=\" 0.15, 0.15,0.15\" anchor=\"origin\" color=\"white\" />\n" " <led offset=\"-0.15, 0.15,0\" anchor=\"origin\" color=\"red\" />\n" " <led offset=\" 0.15, 0.15,0\" anchor=\"origin\" color=\"blue\" />\n" " <led offset=\" 0.15,-0.15,0\" anchor=\"origin\" color=\"green\" />\n" " </leds>\n" " </box>\n" " ...\n" " </arena>\n\n" "In the example, four LEDs are added to the box. The LEDs have\n" "different colors and are located one on the top and three\n" "around the box. The LEDs are managed by the LED medium declared in\n" "the <media> section of the configuration file with id \"id_of_led_medium\"", "Usable")
	REGISTER_STANDARD_SPACE_OPERATIONS_ON_COMPOSABLE (CBoxEntity)
	REGISTER_ENTITY (CCylinderEntity, "cylinder", "Carlo Pinciroli [ilpincy@gmail.com]", "1.0", "A stretchable cylinder.", "The cylinder entity can be used to model obstacles or cylinder-shaped\n" "grippable objects. The cylinder has a red LED on the center of one\n" "of the circular surfaces, that allows perception using the cameras.\n" "The cylinder can be movable or not. A movable object can be pushed\n" "and gripped. An unmovable object is pretty much like a column.\n\n" "REQUIRED XML CONFIGURATION\n\n" "To declare an unmovable object (i.e., a column) you need the following:\n\n" " <arena ...>\n" " ...\n" " <cylinder id=\"cyl1\" radius=\"0.8\" height=\"0.5\" movable=\"false\">\n" " <body position=\"0.4,2.3,0\" orientation=\"45,0,0\" />\n" " </cylinder>\n" " ...\n" " </arena>\n\n" "To declare a movable object you need the following:\n\n" " <arena ...>\n" " ...\n" " <cylinder id=\"cyl1\" radius=\"0.8\" height=\"0.5\"\n" " movable=\"true\" mass=\"2.5\">\n" " <body position=\"0.4,2.3,0\" orientation=\"45,0,0\" />\n" " </cylinder>\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 'radius' and 'height' attributes specify the size of the cylinder. When\n" "you add a cylinder, imagine it initially unrotated and centered in the origin.\n" "The base of the cylinder, then, is parallel to the XY plane and its height\n" "goes with the Z axis.\n" "The 'movable' attribute specifies whether or not the object is movable. When\n" "set to 'false', the object is unmovable: if another object pushes against it,\n" "the cylinder won't move. When the attribute is set to 'true', the cylinder is\n" "movable upon pushing or gripping. When an object is movable, the 'mass'\n" "attribute is required.\n" "The 'mass' attribute quantifies the mass of the cylinder in kg.\n" "The 'body/position' attribute specifies the position of the base of the\n" "cylinder in the arena. The three values are in the X,Y,Z order.\n" "The 'body/orientation' attribute specifies the orientation of the cylinder. All\n" "rotations are performed with respect to the center of mass. The order of the\n" "angles is Z,Y,X, which means that the first number corresponds to the rotation\n" "around the Z axis, the second around Y and the last around X. This reflects\n" "the internal convention used in ARGoS, in which rotations are performed in\n" "that order. Angles are expressed in degrees.\n\n" "OPTIONAL XML CONFIGURATION\n\n" "It is possible to add any number of colored LEDs to the cylinder. In this way,\n" "the cylinder is visible with a robot camera. The position and color of the\n" "LEDs is specified with the following syntax:\n\n" " <arena ...>\n" " ...\n" " <cylinder id=\"cyl1\" radius=\"0.8\" height=\"0.5\"\n" " movable=\"true\" mass=\"2.5\">\n" " <body position=\"0.4,2.3,0\" orientation=\"45,0,0\" />\n" " <leds medium=\"id_of_led_medium\">\n" " <led offset=\" 0.15, 0.15,0.15\" anchor=\"origin\" color=\"white\" />\n" " <led offset=\"-0.15, 0.15,0\" anchor=\"origin\" color=\"red\" />\n" " <led offset=\" 0.15, 0.15,0\" anchor=\"origin\" color=\"blue\" />\n" " <led offset=\" 0.15,-0.15,0\" anchor=\"origin\" color=\"green\" />\n" " </leds>\n" " </cylinder>\n" " ...\n" " </arena>\n\n" "In the example, four LEDs are added around the cylinder. The LEDs have\n" "different colors and are located around the cylinder. The LEDs are\n" "managed by the LED medium declared in the <media> section of the\n" "configuration file with id \"id_of_led_medium\"", "Usable")
	REGISTER_STANDARD_SPACE_OPERATIONS_ON_COMPOSABLE (CCylinderEntity)
	REGISTER_SPACE_OPERATION (CSpaceOperationAddEntity, CSpaceOperationAddCDirectionalLEDEntity, CDirectionalLEDEntity)
	REGISTER_SPACE_OPERATION (CSpaceOperationRemoveEntity, CSpaceOperationRemoveCDirectionalLEDEntity, CDirectionalLEDEntity)
	REGISTER_STANDARD_SPACE_OPERATIONS_ON_COMPOSABLE (CDirectionalLEDEquippedEntity)
	REGISTER_STANDARD_SPACE_OPERATIONS_ON_ENTITY (CGripperEquippedEntity)
	REGISTER_STANDARD_SPACE_OPERATIONS_ON_ENTITY (CGroundSensorEquippedEntity)
	REGISTER_SPACE_OPERATION (CSpaceOperationAddEntity, CSpaceOperationAddCLEDEntity, CLEDEntity)
	REGISTER_SPACE_OPERATION (CSpaceOperationRemoveEntity, CSpaceOperationRemoveCLEDEntity, CLEDEntity)
	REGISTER_STANDARD_SPACE_OPERATIONS_ON_COMPOSABLE (CLEDEquippedEntity)
	REGISTER_ENTITY (CLightEntity, "light", "Carlo Pinciroli [ilpincy@gmail.com]", "1.0", "A colored light.", "The light entity is an entity that emits a light detectable by a robot camera\n" "(as a normal LED) or by light sensors. A light is bodyless, therefore it must\n" "not be added to physics engines.\n" "A light is characterized by a color and an intensity. The color of the light\n" "is perceived by cameras. The intensity modifies the reading of the light\n" "sensors. The higher the intensity, the closer the light is perceived.\n\n" "REQUIRED XML CONFIGURATION\n\n" " <arena ...>\n" " ...\n" " <light id=\"light0\"\n" " position=\"0.4,2.3,0.25\"\n" " orientation=\"0,0,0\"\n" " color=\"yellow\"\n" " intensity=\"1.0\"\n" " medium=\"leds\"/>\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 'position' attribute specifies the position of the center of the light.\n" "The attribute values are in the X,Y,Z order.\n" "The 'orientation' attribute specifies the orientation of the light. At the\n" "moment this attribute is mandatory but its value is ignored. In the future,\n" "it will be used to implement a directional light.\n" "The 'color' attribute specifies the color of the light.\n" "The 'intensity' attribute sets the intensity of the light. When the value is\n" "1.0, the light emits a normal amount of light. When it is 0.5 the amount of\n" "light is half, and when the value is 2.0 the emission is doubled. The\n" "intensity of the light affects the readings of the light sensors but not\n" "those of the cameras.\n" "The 'medium' attribute is used to add the light the corresponding LED medium.\n\n" "OPTIONAL XML CONFIGURATION\n\n" "None.\n", "Usable")
	REGISTER_STANDARD_SPACE_OPERATIONS_ON_ENTITY (CLightEntity)
	REGISTER_STANDARD_SPACE_OPERATIONS_ON_ENTITY (CLightSensorEquippedEntity)
	REGISTER_STANDARD_SPACE_OPERATIONS_ON_ENTITY (CMagnetEntity)
	REGISTER_STANDARD_SPACE_OPERATIONS_ON_COMPOSABLE (CMagnetEquippedEntity)
	REGISTER_STANDARD_SPACE_OPERATIONS_ON_ENTITY (COmnidirectionalCameraEquippedEntity)
	REGISTER_STANDARD_SPACE_OPERATIONS_ON_ENTITY (CPerspectiveCameraEquippedEntity)
	REGISTER_STANDARD_SPACE_OPERATIONS_ON_ENTITY (CProximitySensorEquippedEntity)
	REGISTER_STANDARD_SPACE_OPERATIONS_ON_ENTITY (CQuadRotorEntity)
	REGISTER_SPACE_OPERATION (CSpaceOperationAddEntity, CSpaceOperationAddCRABEquippedEntity, CRABEquippedEntity)
	REGISTER_SPACE_OPERATION (CSpaceOperationRemoveEntity, CSpaceOperationRemoveCRABEquippedEntity, CRABEquippedEntity)
	REGISTER_SPACE_OPERATION (CSpaceOperationAddEntity, CSpaceOperationAddCRadioEntity, CRadioEntity)
	REGISTER_SPACE_OPERATION (CSpaceOperationRemoveEntity, CSpaceOperationRemoveCRadioEntity, CRadioEntity)
	REGISTER_STANDARD_SPACE_OPERATIONS_ON_COMPOSABLE (CRadioEquippedEntity)
	REGISTER_STANDARD_SPACE_OPERATIONS_ON_ENTITY (CRotorEquippedEntity)
	REGISTER_SPACE_OPERATION (CSpaceOperationAddEntity, CSpaceOperationAddCTagEntity, CTagEntity)
	REGISTER_SPACE_OPERATION (CSpaceOperationRemoveEntity, CSpaceOperationRemoveCTagEntity, CTagEntity)
	REGISTER_STANDARD_SPACE_OPERATIONS_ON_COMPOSABLE (CTagEquippedEntity)
	REGISTER_STANDARD_SPACE_OPERATIONS_ON_ENTITY (CWheeledEntity)
	REGISTER_STANDARD_SPACE_OPERATIONS_ON_ENTITY (CWiFiEquippedEntity)
	REGISTER_MEDIUM (CDirectionalLEDMedium, "directional_led", "Michael Allwright [allsey87@gmail.com]", "1.0", "Manages directional LED entities.", "This medium is required to manage the directional LED entities, so that\n" "the associated camera sensors can find them. If you use a camera sensor,\n" "you must add this medium the sensors XML configuration.\n\n" "REQUIRED XML CONFIGURATION\n\n" "<directional_led id=\"led\" />\n\n" "OPTIONAL XML CONFIGURATION\n\n" "None for the time being\n", "Under development")
	REGISTER_MEDIUM (CLEDMedium, "led", "Carlo Pinciroli [ilpincy@gmail.com]", "1.0", "Manages the LEDs.", "This medium is required to manage the LED entities, thus allowing the\n" "associated camera sensors to work properly. If you intend to use a camera\n" "sensor that detects colored blobs, you must add this medium to the XML\n" "configuration file.\n\n" "REQUIRED XML CONFIGURATION\n\n" "<led id=\"led\" />\n\n" "OPTIONAL XML CONFIGURATION\n\n" "None for the time being\n", "Under development")
	REGISTER_MEDIUM (CRABMedium, "range_and_bearing", "Carlo Pinciroli [ilpincy@gmail.com]", "1.0", "It simulates the communication across range-and-bearing-equipped robots.", "This medium is required to simulate communication across range-and-bearing-\n" "equipped robots. You need to add it to the <media> section every time you add\n" "a range-and-bearing-equipped entity whose controller has a range-and-bearing\n" "device activated.\n\n" "REQUIRED XML CONFIGURATION\n\n" "<range_and_bearing id=\"rab\" />\n\n" "OPTIONAL XML CONFIGURATION\n\n" "By default, the RAB medium requires two robots to be in direct line-of-sight in\n" "order to be able to exchange messages. You can toggle this behavior on or off\n" "through the 'check_occlusions' attribute:\n\n" "<range_and_bearing id=\"rab\" check_occlusions=\"false\" />\n\n", "Under development")
	REGISTER_MEDIUM (CRadioMedium, "radio", "Michael Allwright [allsey87@gmail.com]", "1.0", "Enables communication between a radio actuator and radio sensor.", "This medium indexes the radio entities in the space and allows\n" "transmitting radios to find nearby receiving radios.\n\n" "REQUIRED XML CONFIGURATION\n\n" "<radio id=\"radios\" />\n\n" "OPTIONAL XML CONFIGURATION\n\n" "None for the time being\n", "Under development")
	REGISTER_MEDIUM (CTagMedium, "tag", "Michael Allwright [allsey87@gmail.com]", "1.0", "Manages tag entities.", "This medium is required to manage the tag entities, so that the\n" "associated camera sensors can find them. If you use a camera sensor, you\n" "must add this medium the sensors XML configuration.\n\n" "REQUIRED XML CONFIGURATION\n\n" "<tag id=\"qrcodes\" />\n\n" "OPTIONAL XML CONFIGURATION\n\n" "None for the time being\n", "Under development")
	REGISTER_STANDARD_DYNAMICS2D_OPERATIONS_ON_ENTITY (CBoxEntity, CDynamics2DBoxModel)
	REGISTER_STANDARD_DYNAMICS2D_OPERATIONS_ON_ENTITY (CCylinderEntity, CDynamics2DCylinderModel)
	REGISTER_PHYSICS_ENGINE (CDynamics2DEngine, "dynamics2d", "Carlo Pinciroli [ilpincy@gmail.com]", "1.0", "A 2D dynamics physics engine.", "This physics engine is a 2D dynamics engine based on the Chipmunk library\n" "(http://code.google.com/p/chipmunk-physics) version 6.0.1.\n\n" "REQUIRED XML CONFIGURATION\n\n" " <physics_engines>\n" " ...\n" " <dynamics2d id=\"dyn2d\" />\n" " ...\n" " </physics_engines>\n\n" "The 'id' attribute is necessary and must be unique among the physics engines.\n" "If two engines share the same id, initialization aborts.\n\n" "OPTIONAL XML CONFIGURATION\n\n" "It is possible to set how many iterations this physics engine performs between\n" "each simulation step. By default, this physics engine performs 10 steps every\n" "two simulation steps. This means that, if the simulation step is 100ms, the\n" "physics engine step is, by default, 10ms. Sometimes, collisions and joints are\n" "not simulated with sufficient precision using these parameters. By increasing\n" "the number of iterations, the temporal granularity of the solver increases and\n" "with it its accuracy, at the cost of higher computational cost. To change the\n" "number of iterations per simulation step use this syntax:\n\n" " <physics_engines>\n" " ...\n" " <dynamics2d id=\"dyn2d\"\n" " iterations=\"20\" />\n" " ...\n" " </physics_engines>\n\n" "The plane of the physics engine can be translated on the Z axis, to simulate\n" "for example hovering objects, such as flying robots. To translate the plane\n" "2m up the Z axis, use the 'elevation' attribute as follows:\n\n" " <physics_engines>\n" " ...\n" " <dynamics2d id=\"dyn2d\"\n" " elevation=\"2.0\" />\n" " ...\n" " </physics_engines>\n\n" "When not specified, the elevation is zero, which means that the plane\n" "corresponds to the XY plane.\n\n" "The friction parameters between the ground and movable boxes and cylinders can\n" "be overridden. You can set both the linear and angular friction parameters.\n" "The default value is 1.49 for each of them. To override the values, use this\n" "syntax (all attributes are optional):\n\n" " <physics_engines>\n" " ...\n" " <dynamics2d id=\"dyn2d\">\n" " <friction box_linear_friction=\"1.0\"\n" " box_angular_friction=\"2.0\"\n" " cylinder_linear_friction=\"3.0\"\n" " cylinder_angular_friction=\"4.0\" />\n" " </dynamics2d>\n" " ...\n" " </physics_engines>\n\n" "For the the robots that use velocity-based control, such as ground robots with\n" "the differential_steering actuator (e.g. the foot-bot and the e-puck), it is\n" "possible to customize robot-specific attributes that set the maximum force and\n" "torque the robot has. The syntax is as follows, taking a foot-bot as example:\n\n" " <arena ...>\n" " ...\n" " <foot-bot id=\"fb0\">\n" " <body position=\"0.4,2.3,0.25\" orientation=\"45,0,0\" />\n" " <controller config=\"mycntrl\" />\n" " <!-- Specify new value for max_force and max_torque -->\n" " <dynamics2d>\n" " <differential_steering max_force=\"0.1\" max_torque=\"0.1\"/>\n" " </dynamics2d>\n" " </foot-bot>\n" " ...\n" " </arena>\n\n" "The attributes 'max_force' and 'max_torque' are both optional, and they take the\n" "robot-specific default if not set. Check the code of the dynamics2d model of the\n" "robot you're using to know the default values.\n\n" "Multiple physics engines can also be used. If multiple physics engines are used,\n" "the disjoint union of the area within the arena assigned to each engine must cover\n" "the entire arena without overlapping. If the entire arena is not covered, robots can\n" "\"escape\" the configured physics engines and cause a fatal exception (this is not an\n" "issue when a single physics engine is used, because the engine covers the entire arena\n" "by default). To use multiple physics engines, use the following syntax (all attributes\n" "are mandatory):\n\n" " <physics_engines>\n" " ...\n" " <dynamics2d id=\"dyn2d0\">\n" " <boundaries>\n" " <top height=\"1.0\"/>\n" " <botton height=\"0.0\"/>\n" " <sides>\n" " <vertex point=\"0.0, 0.0\"/>\n" " <vertex point=\"4.0, 0.0\"/>\n" " <vertex point=\"4.0, 4.0\"/>\n" " <vertex point=\"0.0, 4.0\"/>\n" " </sides>\n" " </boundaries>\n" " </dynamics2d>\n" " <dynamics2d id=\"dyn2d1\">\n" " ..." " </dynamics2d>\n" " ...\n" " </physics_engines>\n\n" "The 'top' and 'bottom' nodes are relevant for 3D physics engines. For 2D\n" "engines, it safe to set their height to 1.0 and 0.0, respectively. A physics\n" "engine can be defined having any number of sides >= 3, as long as the sides form\n" "a closed polygon in the 2D plane. The vertices must be declared in\n" "counter-clockwise order. In the above example, the physics engine \"dyn2d0\" is\n" "assigned to the area within the arena with lower-left coordinates (0,0) and\n" "upper-right coordinates (4,4) and vertices are specified in counter clockwise\n" "order: south-east, south-west, north-west, north-east.\n\n" "OPTIMIZATION HINTS\n\n" "1. A single physics engine is generally sufficient for small swarms (say <= 50\n" " robots) within a reasonably small arena to obtain faster than real-time\n" " performance with optimized code. For larger swarms and/or large arenas,\n" " multiple engines should be used for maximum performance.\n\n" "2. In general, using the same number of ARGoS threads as physics engines gives\n" " maximum performance (1-thread per engine per CPU core).\n\n" "3. Using multiple engines in simulations with any of the following\n" " characteristics generally incurs more overhead (due to thread context\n" " switching) than the performance benefits from multiple engines:\n" " - Small swarms\n" " - Small arenas\n" " - Less available ARGoS threads than assigned physics engines\n" " - Less available CPU cores than assigned ARGoS threads\n\n" "4. A good starting strategy for physics engine boundary assignment is to assign\n" " each physics engine the same amount of area within the arena. This will be\n" " sufficient for most cases. Depending on the nature of the simulation, using\n" " non-homogeneous physics engine sizes may yield increased performance. An\n" " example would be a narrow hallway between larger open areas in the arena--the\n" " hallway will likely experience increased robot density and assigning more\n" " physics engines to that area than the relatively unpopulated open areas may\n" " increase performance.\n\n" "5. By default, this engine uses the bounding-box tree method for collision shape\n" " indexing. This method is the default in Chipmunk and it works well most of\n" " the times. However, if you are running simulations with hundreds or thousands\n" " of identical robots, a different shape collision indexing is available: the\n" " spatial hash. The spatial hash is a grid stored in a hashmap. To get the max\n" " out of this indexing method, you must set two parameters: the cell size and\n" " the suggested minimum number of cells in the space. According to the\n" " documentation of Chipmunk, the cell size should correspond to the size of the\n" " bounding box of the most common object in the simulation; the minimum number\n" " of cells should be at least 10x the number of objects managed by the physics\n" " engine. To use this indexing method, use this syntax (all attributes are\n" " mandatory):\n\n" " <physics_engines>\n" " ...\n" " <dynamics2d id=\"dyn2d\">\n" " <spatial_hash>\n" " <cell_size=\"1.0\"/>\n" " <cell_num=\"2.0\"/>\n" " </spatial_hash>\n" " </dynamics2d>\n" " ...\n" " </physics_engines>\n", "Usable")
int	BeginCollisionBetweenGripperAndGrippable (cpArbiter *pt_arb, cpSpace *pt_space, void *p_data)
int	ManageCollisionBetweenGripperAndGrippable (cpArbiter *pt_arb, cpSpace *pt_space, void *p_data)
void	AddConstraintBetweenGripperAndGrippable (cpSpace *pt_space, void *p_obj, void *p_data)
void	RemoveConstraintBetweenGripperAndGrippable (cpSpace *pt_space, void *p_obj, void *p_data)
	REGISTER_STANDARD_DYNAMICS3D_OPERATIONS_ON_ENTITY (CBoxEntity, CDynamics3DBoxModel)
	REGISTER_STANDARD_DYNAMICS3D_OPERATIONS_ON_ENTITY (CCylinderEntity, CDynamics3DCylinderModel)
	REGISTER_PHYSICS_ENGINE (CDynamics3DEngine, "dynamics3d", "Michael Allwright [allsey87@gmail.com]", "1.0", "A 3D dynamics physics engine", "This physics engine is a 3D dynamics engine based on the Bullet Physics SDK\n" "(https://github.com/bulletphysics/bullet3).\n\n" "REQUIRED XML CONFIGURATION\n\n" " <physics_engines>\n" " ...\n" " <dynamics3d id=\"dyn3d\" />\n" " ...\n" " </physics_engines>\n\n" "The 'id' attribute is necessary and must be unique among the physics engines.\n\n" "Multiple physics engines of this type cannot be used, and defining '<boundaries>'\n" "as a child tag under the '<dynamics3d>' tree will result in an initialization error.\n\n" "OPTIONAL XML CONFIGURATION\n\n" "It is possible to change the default friction used in the simulation from\n" "its initial value of 1.0 using the default_friction attribute as shown\n" "below. For debugging purposes, it is also possible to provide a filename\n" "via the debug_file attribute which will cause the Bullet world to be\n" "serialized and written out to a file at the end of each step. This file can\n" "then be opened using the Bullet example browser and can provide useful\n" "insights into the stability of a simulation.\n\n" " <physics_engines>\n" " ...\n" " <dynamics3d id=\"dyn3d\"\n" " default_friction=\"1.0\"\n" " debug_file=\"dynamics3d.bullet\"/>\n" " ...\n" " </physics_engines>\n\n" "The physics engine supports a number of plugins that add features to the\n" "simulation. In the example below, a floor plane has been added which has a\n" "height of 1 cm and the dimensions of the floor as specified by the arena\n" "node. It is possible to change the coefficient of friction of the floor\n" "using the friction attribute. This will override the default friction used\n" "by the physics engine. By default, there will be no gravity in the\n" "simulation. This can be changed by adding a gravity node with a single\n" "attribute 'g' which is the downwards acceleration caused by gravity.\n" "Finally, there is a magnetism plugin. This plugin applies forces and\n" "torques to bodies in the simulation that contains magnetic dipoles. The\n" "'max_distance' attribute is an optional optimization that sets the maximum\n" "distance at which two magnetic dipoles will interact with each other. In\n" "the example below, this distance has been set to 4 cm.\n\n" " <physics_engines>\n" " ...\n" " <dynamics3d id=\"dyn3d\" default_friction=\"2.0\">\n" " <floor height=\"0.01\" friction=\"0.05\"/>\n" " <gravity g=\"10\" />\n" " <magnetism max_distance=\"0.04\" />\n" " </dynamics3d>\n" " ...\n" " </physics_engines>\n\n", "Usable (multiple engines not supported)")
	REGISTER_DYNAMICS3D_PLUGIN (CDynamics3DFloorPlugin, "floor", "Michael Allwright [allsey87@gmail.com]", "1.0", "Inserts a floor into the 3D dynamics engine", "For a description on how to use this plugin, please consult the documentation\n" "for the dynamics3d physics engine plugin", "Usable")
	REGISTER_DYNAMICS3D_PLUGIN (CDynamics3DGravityPlugin, "gravity", "Michael Allwright [allsey87@gmail.com]", "1.0", "Applies a gravity force to all bodies in the simulation", "For a description on how to use this plugin, please consult the documentation\n" "for the dynamics3d physics engine plugin", "Usable")
	REGISTER_DYNAMICS3D_PLUGIN (CDynamics3DMagnetismPlugin, "magnetism", "Michael Allwright [allsey87@gmail.com]", "1.0", "Applies forces and torques between magnetic dipoles in the simulation", "For a description on how to use this plugin, please consult the documentation\n" "for the dynamics3d physics engine plugin", "Usable")
	REGISTER_STANDARD_POINTMASS3D_OPERATIONS_ON_ENTITY (CBoxEntity, CPointMass3DBoxModel)
	REGISTER_STANDARD_POINTMASS3D_OPERATIONS_ON_ENTITY (CCylinderEntity, CPointMass3DCylinderModel)
	REGISTER_PHYSICS_ENGINE (CPointMass3DEngine, "pointmass3d", "Carlo Pinciroli [ilpincy@gmail.com]", "1.0", "A 3D point-mass physics engine.", "This physics engine is a 3D point-mass engine.\n\n" "REQUIRED XML CONFIGURATION\n\n" " <physics_engines>\n" " ...\n" " <pointmass3d id=\"pm3d\" />\n" " ...\n" " </physics_engines>\n\n" "The 'id' attribute is necessary and must be unique among the physics engines.\n" "If two engines share the same id, initialization aborts.\n\n" "OPTIONAL XML CONFIGURATION\n\n" "By default, there will -9.81 m/s gravity in the simulation. This can be\n" "changed by specifying the 'gravity' attribute:\n\n" " <physics_engines>\n" " ...\n" " <pointmass3d id=\"pm3d\" gravity=\"-9.81\"/>\n" " ...\n" " </physics_engines>\n\n" "Multiple physics engines can also be used. If multiple physics engines are used,\n" "the disjoint union of the 3D volumes within the arena assigned to each engine must cover\n" "the entire arena without overlapping. If the entire arena is not covered, robots can\n" "\"escape\" the configured physics engines and cause a fatal exception (this is not an\n" "issue when a single physics engine is used, because the engine covers the entire arena\n" "by default). To use multiple physics engines, use the following syntax (all attributes\n" "are mandatory):\n\n" " <physics_engines>\n" " ...\n" " <pointmass3d id=\"pm0\">\n" " <boundaries>\n" " <top height=\"1.0\"/>\n" " <botton height=\"0.0\"/>\n" " <sides>\n" " <vertex point=\"0.0, 0.0\"/>\n" " <vertex point=\"4.0, 0.0\"/>\n" " <vertex point=\"4.0, 4.0\"/>\n" " <vertex point=\"0.0, 4.0\"/>\n" " </sides>\n" " </boundaries>\n" " </pointmass3d>\n" " <pointmass3d id=\"pm1\">\n" " ...\n" " </pointmass3d>\n" " ...\n" " </physics_engines>\n\n" "A physics engine can be defined having any number of sides >= 3, as long as the\n" "sides from a closed polygon in the 2D plane (vertices must be declared in the\n" "XML file in counter-clockwise order). In the above example, the physics engine\n" "'pm0' is assigned to the area within the arena with lower left coordinates (0,0)\n" "and upper right coordinates (4,4) and vertices are specified in counter\n" "clockwise order: LL, LR, UR, UL.\n\n" "OPTIMIZATION HINTS\n\n" "1. A single physics engine is generally sufficient for small swarms (say <= 50\n" " robots) within a reasonably small arena to obtain faster than real-time\n" " performance with optimized code. For larger swarms and/or large arenas multiple\n" " engines should be used for maximum performance.\n\n" "2. In general, using the same number of ARGoS threads as physics engines gives\n" " maximum performance (1-thread per engine per CPU core).\n\n" "3. Using multiple engines in simulations with any of the following characteristics\n" " generally incurs more overhead due to thread context switching than the\n" " performance benefits from multiple engines:\n\n" " - Small swarms\n" " - Small arenas\n" " - Less available ARGoS threads than assigned physics engines\n" " - Less available CPU cores than assigned ARGoS threads\n\n" "4. A good starting strategy for physics engine boundary assignment is to assign\n" " each physics engine the same amount of area within the arena. This will be\n" " sufficient for most cases. Depending on the nature of the simulation, using\n" " non-homogeneous physics engine sizes may yield increased performance. An example\n" " would be a narrow hallway between larger open areas in the arena--the hallway\n" " will likely experience increased robot density and assigning more physics\n" " engines to that area than the relatively unpopulated open areas may increase\n" " performance.\n\n", "Usable")
	REGISTER_QTOPENGL_ENTITY_OPERATION (CQTOpenGLOperationDrawNormal, CQTOpenGLOperationDrawBoxNormal, CBoxEntity)
	REGISTER_QTOPENGL_ENTITY_OPERATION (CQTOpenGLOperationDrawSelected, CQTOpenGLOperationDrawBoxSelected, CBoxEntity)
	REGISTER_QTOPENGL_ENTITY_OPERATION (CQTOpenGLOperationDrawNormal, CQTOpenGLOperationDrawCylinderNormal, CCylinderEntity)
	REGISTER_QTOPENGL_ENTITY_OPERATION (CQTOpenGLOperationDrawSelected, CQTOpenGLOperationDrawCylinderSelected, CCylinderEntity)
	REGISTER_QTOPENGL_ENTITY_OPERATION (CQTOpenGLOperationDrawNormal, CQTOpenGLOperationDrawLightNormal, CLightEntity)
	REGISTER_QTOPENGL_ENTITY_OPERATION (CQTOpenGLOperationDrawSelected, CQTOpenGLOperationDrawLightSelected, CLightEntity)
bool	ItemLessThan (const CQTOpenGLLuaStateTreeItem *pc_i1, const CQTOpenGLLuaStateTreeItem *pc_i2)
	REGISTER_VISUALIZATION (CQTOpenGLRender, "qt-opengl", "Carlo Pinciroli [ilpincy@gmail.com]", "1.0", "An interactive graphical renderer based on Qt and OpenGL.", "The QT-OpenGL renderer is a graphical renderer based on Qt >= 4.5 and OpenGL.\n" "It allows the user to watch and modify the simulation as it's running in an\n" "intuitive way.\n\n" "REQUIRED XML CONFIGURATION\n\n" " <visualization>\n" " <qt-opengl />\n" " </visualization>\n\n" "OPTIONAL XML CONFIGURATION\n\n" "You can auto-play the simulation at startup by specifying the 'autoplay'\n" "attribute as follows:\n\n" " <visualization>\n" " <qt-opengl autoplay=\"true\" />\n" " </visualization>\n\n" "It is also possible to set the camera parameters. There are 12 available slots\n" "in which cameras can be configured. These cameras can be selected in the user\n" "interface by pressing F1-F12 or by clicking on the corresponding camera icon.\n" "By default, and if no configuration is given, each of these slots defaults to a\n" "camera position calculated from the size of the arena and the arena's center.\n" "The following example demonstrates overriding four of these camera\n" "configurations:\n\n" " <visualization>\n" " <qt-opengl>\n" " <camera>\n" " <placements>\n" " <placement index=\"0\" position=\"2,2,2\" look_at=\"1,1,1\" />\n" " <placement index=\"1\" position=\"1,0,7\" look_at=\"1,0,0\" />\n" " <placement index=\"2\" position=\"3,3,4\" look_at=\"1,6,0\" />\n" " <placement index=\"3\" position=\"2,3,2\" look_at=\"0,1,0\" />\n" " </placements>\n" " </camera>\n" " </qt-opengl>\n" " </visualization>\n\n" "The 'index' attribute specifies the camera to override, with the zeroth index\n" "corresponding to the camera bound to the F1 key and so on.\n" "The 'position' attribute contains the position of the camera in the arena.\n" "The 'look_at' attribute sets the point the camera is looking at.\n" "Sometimes, specifying a camera positioning with only 'position' and 'look_at'\n" "generates ambiguous configurations, which ARGoS resolves in a default way after\n" "printing a warning message. To place the camera without ambiguities, specify\n" "also the 'up' vector of the camera. If the camera is your head, imagine this\n" "vector as an arrow that stems from the center of your head and extends upwards\n." "The 'up' vector must be perpendicular to the difference between the 'look_at'\n" "and the 'position' vectors.\n" "You can also set the focal length of the camera. For example:\n\n" " <visualization>\n" " <qt-opengl>\n" " <camera>\n" " <placements>\n" " ...\n" " <placement index=\"4\"\n" " position=\"4,1,4\"\n" " look_at=\"2,1,0\"\n" " lens_focal_length=\"50\" />\n" " ...\n" " <placements>\n" " </camera>\n" " </qt-opengl>\n" " </visualization>\n\n" "The 'lens_focal_length' attribute controls the focal length of the lens of the\n" "simulated camera. The value is in millimeters and defaults to 20 mm, if it is\n" "not set from the XML.\n" "You can also configure the camera to switch placement automatically according\n" "to a timeline and even interpolate between different placements as shown below:\n" " <visualization>\n" " <qt-opengl>\n" " <camera>\n" " <placements>\n" " ...\n" " <placement index=\"0\" ... />\n" " <placement index=\"1\" ... />\n" " <placement index=\"2\" ... />\n" " ...\n" " </placements>\n" " <timeline loop=\"400\">\n" " <keyframe placement=\"0\" step=\"0\" />\n" " <interpolate />\n" " <keyframe placement=\"1\" step=\"100\" />\n" " <keyframe placement=\"2\" step=\"200\" />\n" " <keyframe placement=\"1\" step=\"300\" />\n" " <interpolate />\n" " </timeline>\n" " </camera>\n" " </qt-opengl>\n" " </visualization>\n\n" "This feature is enabled by adding a <timeline> node which consists of\n" "<keyframe> nodes. These keyframe nodes indicate the step number on which a\n" "given camera placement will be used. It is possible to interpolate between two\n" "keyframes by adding a <interpolate> node between them. The keyframes must be\n" "specified in order. The timeline can be set to loop by setting the loop\n" "attribute on the timeline node to the value at which the timeline should start\n" "over from the beginning.\n" "This visualization also allows for user customization. In a similar fashion to\n" "the loop functions, you can set a plug-in that derives from the\n" "CQTOpenGLUserFunctions class. To load it in the system, follow this example:\n\n" " <visualization>\n" " <qt-opengl>\n" " <user_functions library=\"/path/to/libmyuserfunctions.so\"\n" " label=\"my_user_functions\" />\n" " </qt-opengl>\n" " </visualization>\n\n" "The 'library' attribute points to the library where the user functions are\n" "stored. This library can be the same as the loop functions, or a new one.\n" "There is no limitation to where the code is to be found.\n" "The 'label' attribute identifies the user function class to use. In this way,\n" "in a single library you can have multiple user function implementations, if\n" "you wish.\n" "You can also grab frames and store them into image files, for example to create\n" "videos in a fast way. This can be done from within the ARGoS window and when\n" "running ARGoS without visualizations (headless). To do it from within the ARGoS\n" "window, you just need to press the red capture button and frame grabbing will be\n" "on.\n" "You can also grab frames when running without visualizations by running ARGoS\n" "under Xvfb to give it a virtual framebuffer to render into. The command\n\n" " xvfb-run -s \"-screen 0 1600x1200x24\" argos3 -c example.argos\n\n" "will run spawn a new Xvfb server with a virtual window size of 1600x1200, 8-bit\n" "color per channel and run ARGoS under it (ARGoS can also be made to attach to an\n" "existing Xvfb server via the DISPLAY environment variable). Refer to the\n" "documentation on Xvfb for the precise meaning of the arguments.\n" "By default, the frames are named 'frame_NNNNN.png' and are stored in the current\n" "directory, i.e. the directory where you run the 'argos' command. If you want to\n" "override these defaults, you can add the optional 'frame_grabbing' section as\n" "follows:\n\n" " <visualization>\n" " <qt-opengl>\n" " <frame_grabbing directory=\"frames\"\n" " base_name=\"myframe_\"\n" " format=\"png\"\n" " quality=\"100\"\n" " headless_grabbing=\"false\"\n" " headless_frame_size=\"1600x1200\"\n" " headless_frame_rate=\"1\"/>\n" " </qt-opengl>\n" " </visualization>\n\n" "All the attributes in this section are optional. If you don't specify one of\n" "them, the default is taken.\n" "The 'directory' attribute stores the directory where the frames are saved. If\n" "the directory does not exist, a fatal error occurs. The directory must exist\n" "and be writable. Both absolute and relative paths are allowed. The default\n" "value is '.'\n" "The 'base_name' attribute is the string to prepend to the file name. After this\n" "string, the frame number (padded to 5 digits) is added. The default value is\n" "'frame_', so a typical resulting name is 'frame_00165'.\n" "The 'format' attribute specifies the format. The default value is 'png' but you\n" "can put any format supported by Qt>=4.5. Refer to the Qt documentation for the\n" "complete list of supported formats.\n" "The 'quality' attribute dictates the quality of the image. Its value is in the\n" "range [0:100] where 0 means maximum compression and minimum quality, and 100\n" "means maximum quality and no compression at all. The default value is '-1',\n" "which means to use Qt's default quality. For videos, it's best to use 100 to\n" "avoid artifacts due to compression. For a normal screenshot, the default is the\n" "safest choice.\n" "The 'headless_grabbing' attribute defaults to 'false'.\n" "The 'headless_frame_size' attribute is the size of the main QTWidget in ARGoS,\n" "*not* the size of the converted frames (actual images will be somewhat smaller).\n" "The 'headless_frame_rate' attribute specifes the frame skip rate (i.e. grab\n" "every n-th frame). The default value is '1'.\n", "Usable")

Variables
size_t	DEBUG_INDENTATION = 0
CARGoSLog	LOG (std::cout, SLogColor(ARGOS_LOG_ATTRIBUTE_BRIGHT, ARGOS_LOG_COLOR_GREEN))
CARGoSLog	LOGERR (std::cerr, SLogColor(ARGOS_LOG_ATTRIBUTE_BRIGHT, ARGOS_LOG_COLOR_RED))
CRange< CRadians >	APERTURE_RANGE (CCI_FootBotGripperActuator::LOCKED_NEGATIVE, CCI_FootBotGripperActuator::LOCKED_POSITIVE)
const Real	RPM_TO_RADIANS_PER_SEC = ARGOS_PI / 30.0f
CRange< CRadians >	INCLINATION_RANGE (CRadians(0), CRadians(ARGOS_PI))
const GLfloat	BODY_COLOR [] = { 0.5f, 0.5f, 0.5f, 1.0f }
const GLfloat	SPECULAR [] = { 0.0f, 0.0f, 0.0f, 1.0f }
const GLfloat	SHININESS [] = { 0.0f }
const GLfloat	EMISSION [] = { 0.0f, 0.0f, 0.0f, 1.0f }
const GLfloat	MOVABLE_COLOR [] = { 1.0f, 0.0f, 0.0f, 1.0f }
const GLfloat	NONMOVABLE_COLOR [] = { 0.7f, 0.7f, 0.7f, 1.0f }
const GLfloat	DEFAULT_SPECULAR [] = { 0.0f, 0.0f, 0.0f, 1.0f }
const GLfloat	DEFAULT_SHININESS [] = { 100.0f }
const GLfloat	DEFAULT_EMISSION [] = { 0.0f, 0.0f, 0.0f, 1.0f }

Detailed Description

The namespace containing all the ARGoS related code.

The namespace containing all the ARGoS-related code.

Typedef Documentation

TConfigurationAttributeIterator

typedef ticpp::Iterator<ticpp::Attribute> argos::TConfigurationAttributeIterator

The iterator for the attributes of an XML node.

Definition at line 31 of file argos_configuration.h.

TConfigurationNode

typedef ticpp::Element argos::TConfigurationNode

The ARGoS configuration XML node.

Definition at line 27 of file argos_configuration.h.

TConfigurationNodeIterator

typedef ticpp::Iterator<ticpp::Element> argos::TConfigurationNodeIterator

The iterator for the ARGoS configuration XML node.

Definition at line 29 of file argos_configuration.h.

TEmbodiedEntityIntersectionData

typedef std::vector<SEmbodiedEntityIntersectionItem> argos::TEmbodiedEntityIntersectionData

Definition at line 58 of file physics_engine.h.

TEmbodiedEntityMap

typedef std::map<std::string, CEmbodiedEntity*> argos::TEmbodiedEntityMap

Definition at line 349 of file embodied_entity.h.

TEmbodiedEntitySet

typedef CSet<CEmbodiedEntity*> argos::TEmbodiedEntitySet

Definition at line 350 of file embodied_entity.h.

TEmbodiedEntityVector

typedef std::vector<CEmbodiedEntity*> argos::TEmbodiedEntityVector

Definition at line 348 of file embodied_entity.h.

TFactoryBatteryDischargeModel

typedef CFactory<CBatteryDischargeModel> argos::TFactoryBatteryDischargeModel

For dynamic loading of battery discharge models.

Definition at line 131 of file battery_equipped_entity.h.

TQueryResult

typedef std::vector<SQueryResultItem> argos::TQueryResult

Definition at line 44 of file query_plugins.h.

Enumeration Type Documentation

EARGoSLogAttributes

enum argos::EARGoSLogAttributes

The possible attributes of the logged text.

Enumerator
ARGOS_LOG_ATTRIBUTE_RESET
ARGOS_LOG_ATTRIBUTE_BRIGHT
ARGOS_LOG_ATTRIBUTE_DIM
ARGOS_LOG_ATTRIBUTE_UNDERSCORE
ARGOS_LOG_ATTRIBUTE_BLINK
ARGOS_LOG_ATTRIBUTE_REVERSE
ARGOS_LOG_ATTRIBUTE_HIDDEN

Definition at line 22 of file argos_colored_text.h.

EARGoSLogColors

enum argos::EARGoSLogColors

The possible colors of the logged text.

Enumerator
ARGOS_LOG_COLOR_BLACK
ARGOS_LOG_COLOR_RED
ARGOS_LOG_COLOR_GREEN
ARGOS_LOG_COLOR_YELLOW
ARGOS_LOG_COLOR_BLUE
ARGOS_LOG_COLOR_MAGENTA
ARGOS_LOG_COLOR_CYAN
ARGOS_LOG_COLOR_WHITE

Definition at line 35 of file argos_colored_text.h.

EPUCK_WHEELS [1/2]

enum argos::EPUCK_WHEELS

Enumerator
EPUCK_LEFT_WHEEL
EPUCK_RIGHT_WHEEL
EPUCK_LEFT_WHEEL
EPUCK_RIGHT_WHEEL

Definition at line 25 of file dynamics2d_epuck_model.cpp.

EPUCK_WHEELS [2/2]

enum argos::EPUCK_WHEELS

Enumerator
EPUCK_LEFT_WHEEL
EPUCK_RIGHT_WHEEL
EPUCK_LEFT_WHEEL
EPUCK_RIGHT_WHEEL

Definition at line 29 of file physx_epuck_model.cpp.

ETurretModes

enum argos::ETurretModes

Enumerator
MODE_OFF
MODE_PASSIVE
MODE_SPEED_CONTROL
MODE_POSITION_CONTROL

Definition at line 33 of file dynamics2d_footbot_model.cpp.

FOOTBOT_WHEELS [1/2]

enum argos::FOOTBOT_WHEELS

Enumerator
FOOTBOT_LEFT_WHEEL
FOOTBOT_RIGHT_WHEEL
FOOTBOT_LEFT_WHEEL
FOOTBOT_RIGHT_WHEEL

Definition at line 28 of file dynamics2d_footbot_model.cpp.

FOOTBOT_WHEELS [2/2]

enum argos::FOOTBOT_WHEELS

Enumerator
FOOTBOT_LEFT_WHEEL
FOOTBOT_RIGHT_WHEEL
FOOTBOT_LEFT_WHEEL
FOOTBOT_RIGHT_WHEEL

Definition at line 16 of file pointmass3d_footbot_model.cpp.

Function Documentation

Abs() [1/3]

template<typename T >

T argos::Abs

(

const T &

t_v

)

Returns the absolute value of the passed argument.

Returns

the absolute value of the passed argument.

Definition at line 25 of file general.h.

Abs() [2/3]

Real argos::Abs ( Real  t_v )

inline

Returns the absolute value of the passed argument.

Specific implementation for the Real type.

Returns

the absolute value of the passed argument.

Definition at line 48 of file general.h.

Abs() [3/3]

SInt32 argos::Abs ( SInt32  t_v )

inline

Returns the absolute value of the passed argument.

Specific implementation for the SInt32 type.

Returns

the absolute value of the passed argument.

See also

Abs()

Definition at line 37 of file general.h.

ACos()

CRadians argos::ACos ( Real  f_value )

inline

Computes the arccosine of the passed value.

Parameters

f_value

a value in the range [-1:1]

Returns

the arccosine in CRadians

Definition at line 622 of file angles.h.

AddChildNode()

void argos::AddChildNode ( TConfigurationNode &  t_parent_node, TConfigurationNode &  t_child_node  )

inline

Adds an XML node as child of another XML node.

The node is added at the end of the children of the parent node.

Parameters

t_parent_node	the parent node
t_child_node	the child node to add to the parent

Exceptions

CARGoSException

if an error occurred

Definition at line 88 of file argos_configuration.h.

AddConstraintBetweenGripperAndGrippable()

void argos::AddConstraintBetweenGripperAndGrippable	(	cpSpace *	pt_space,
		void *	p_obj,
		void *	p_data
	)

Definition at line 199 of file dynamics2d_gripping.cpp.

any_cast() [1/4]

template<typename T >

T& argos::any_cast

(

CAny &

c_any

)

Performs a cast on the any type to the desired type, when the any type is passed by non-const reference.

Definition at line 205 of file any.h.

any_cast() [2/4]

template<typename T >

T* argos::any_cast

(

CAny *

pc_any

)

Performs a cast on the any type to the desired type, when the any type is passed by non-const pointer.

Definition at line 148 of file any.h.

any_cast() [3/4]

template<typename T >

const T& argos::any_cast

(

const CAny &

c_any

)

Performs a cast on the any type to the desired type, when the any type is passed by const reference.

Definition at line 184 of file any.h.

any_cast() [4/4]

template<typename T >

const T* argos::any_cast

(

const CAny *

pc_any

)

Performs a cast on the any type to the desired type, when the any type is passed by const pointer.

Definition at line 166 of file any.h.

ASin()

CRadians argos::ASin ( Real  f_value )

inline

Computes the arcsine of the passed value.

Parameters

f_value

a value in the range [-1:1]

Returns

the arcsine in CRadians

Definition at line 613 of file angles.h.

ATan2()

CRadians argos::ATan2 ( const Real  f_y, const Real  f_x  )

inline

Computes the arctangent of the passed values.

It internally uses the standard function atan2(y,x).

Parameters

f_y	the extent on the y axis
f_x	the extent on the x axis

Returns

the arctangent in CRadians

Definition at line 633 of file angles.h.

BeginCollisionBetweenGripperAndGrippable()

int argos::BeginCollisionBetweenGripperAndGrippable	(	cpArbiter *	pt_arb,
		cpSpace *	pt_space,
		void *	p_data
	)

Definition at line 143 of file dynamics2d_gripping.cpp.

CalculatePluginRangeForThread()

CRange<size_t> argos::CalculatePluginRangeForThread	(	size_t	un_id,
		size_t	un_tot_plugins
	)

Definition at line 272 of file space_multi_thread_balance_quantity.cpp.

CallEntityOperation()

template<typename LABEL , typename PLUGIN , typename RETURN_VALUE >

RETURN_VALUE argos::CallEntityOperation	(	PLUGIN &	t_plugin,
		CEntity &	c_entity
	)

Calls the operation corresponding to the given context and operand Skips the function call if the operation is missing in the vtable.

Definition at line 418 of file entity.h.

Ceil()

SInt32 argos::Ceil ( Real  f_value )

inline

Rounds the passed floating-point value to the closest higher integer.

Profiled, it takes 50% the time of ceil().

Returns

the closest higher integer to the passed value.

Definition at line 151 of file general.h.

Cos()

Real argos::Cos ( const CRadians &  c_radians )

inline

Computes the cosine of the passed value in radians.

Parameters

c_radians

the angle in CRadians

Returns

the cosine of the passed value

Definition at line 595 of file angles.h.

CreateGenerator()

RealNumberGenerator* argos::CreateGenerator

(

TConfigurationNode &

t_tree

)

Definition at line 352 of file space.cpp.

DEFINE_ARGOS_STREAM_COLOR_HELPER() [1/7]

argos::DEFINE_ARGOS_STREAM_COLOR_HELPER	(	blue	,
		BLUE
	)

Bright blue text modifier.

DEFINE_ARGOS_STREAM_COLOR_HELPER() [2/7]

argos::DEFINE_ARGOS_STREAM_COLOR_HELPER	(	cyan	,
		CYAN
	)

Bright cyan text modifier.

DEFINE_ARGOS_STREAM_COLOR_HELPER() [3/7]

argos::DEFINE_ARGOS_STREAM_COLOR_HELPER	(	green	,
		GREEN
	)

Bright green text modifier.

DEFINE_ARGOS_STREAM_COLOR_HELPER() [4/7]

argos::DEFINE_ARGOS_STREAM_COLOR_HELPER	(	magenta	,
		MAGENTA
	)

Bright magenta text modifier.

DEFINE_ARGOS_STREAM_COLOR_HELPER() [5/7]

argos::DEFINE_ARGOS_STREAM_COLOR_HELPER	(	red	,
		RED
	)

Bright red text modifier.

DEFINE_ARGOS_STREAM_COLOR_HELPER() [6/7]

argos::DEFINE_ARGOS_STREAM_COLOR_HELPER	(	white	,
		WHITE
	)

Bright white text modifier.

DEFINE_ARGOS_STREAM_COLOR_HELPER() [7/7]

argos::DEFINE_ARGOS_STREAM_COLOR_HELPER	(	yellow	,
		YELLOW
	)

Bright yellow text modifier.

Distance() [1/2]

Real argos::Distance ( const CVector2 &  c_v1, const CVector2 &  c_v2  )

inline

Computes the distance between the passed vectors.

Parameters

c_v1	The first vector
c_v2	The second vector

Returns

The distance between the passed vectors

Definition at line 462 of file vector2.h.

Distance() [2/2]

Real argos::Distance ( const CVector3 &  c_v1, const CVector3 &  c_v2  )

inline

Computes the distance between the passed vectors.

Parameters

c_v1	The first vector
c_v2	The second vector

Returns

The distance between the passed vectors

Definition at line 727 of file vector3.h.

DoubleEq()

bool argos::DoubleEq ( Real  f_value1, Real  f_value2  )

inline

Tests whether a floating-point value is lower than another.

This method is like DoubleEqAbsolute(), but with f_epsilon = 0.0001.

Parameters

f_value1	the first value to test
f_value2	the second value to test

Returns

true if f_value1 < f_value2, false otherwise.

See also

DoubleEqAbsolute()

Definition at line 206 of file general.h.

DoubleEqAbsolute()

bool argos::DoubleEqAbsolute ( Real  f_value1, Real  f_value2, Real  f_epsilon  )

inline

Tests whether a floating-point value is lower than another.

This function perform the following test:

          Abs(f_value1 - f_value2)
--------------------------------------------- <= f_epsilon
Max (1.0f, Max(Abs(f_value1), Abs(f_value2)))

Parameters

f_value1	the first value to test
f_value2	the second value to test
f_epsilon	the tolerance of the test

Returns

true if f_value1 < f_value2, false otherwise.

See also

DoubleEq()

Definition at line 194 of file general.h.

DumpResourceUsageAsTableRow()

void argos::DumpResourceUsageAsTableRow	(	std::ostream &	c_os,
		const ::rusage &	t_resources
	)

Definition at line 63 of file profiler.cpp.

DumpResourceUsageHumanReadable()

void argos::DumpResourceUsageHumanReadable	(	std::ostream &	c_os,
		const ::rusage &	t_resources
	)

Definition at line 37 of file profiler.cpp.

Erase()

void argos::Erase	(	std::vector< std::vector< CConvexHull::TEdge > > &	vec_edges,
		const std::array< UInt32, 3 > &	arr_vertices
	)

Definition at line 36 of file convex_hull.cpp.

ExpandEnvVariables()

std::string & argos::ExpandEnvVariables

(

std::string &

str_buffer

)

Searches into str_buffer for occurrences of an environment variable of the form $VAR and substitutes them with the value of the variable.

Parameters

str_buffer

the string to modify.

Returns

the modified string

Definition at line 127 of file string_utilities.cpp.

Floor()

SInt32 argos::Floor ( Real  f_value )

inline

Rounds the passed floating-point value to the closest lower integer.

Profiled, it takes 50% the time of floor().

Returns

the closest lower integer to the passed value.

Definition at line 140 of file general.h.

FromString()

template<typename T >

T argos::FromString

(

const std::string &

str_value

)

Converts the given std::string parameter to the wanted type.

Example of use:

std::string strToBeConverted("36");
UInt32 unConverted = FromString(strToBeConverted);

Internally uses an std::ostringstream. If you want to use it with a custom type, you must define its std::istream& operator>>(std::istream&, type).

Template Parameters

T	the type of the target parameter.

Parameters

str_value

the string to convert.

Returns

the converted value.

Definition at line 59 of file string_utilities.h.

GetClosestEmbodiedEntityIntersectedByRay() [1/2]

bool argos::GetClosestEmbodiedEntityIntersectedByRay	(	SEmbodiedEntityIntersectionItem &	s_item,
		const CRay3 &	c_ray
	)

Returns the closest intersection with an embodied entity to the ray start.

Parameters

t_data	The data of the intersection, if any.
c_ray	The ray to test for intersections.

Returns

true if an intersection is found

Definition at line 41 of file physics_engine.cpp.

GetClosestEmbodiedEntityIntersectedByRay() [2/2]

bool argos::GetClosestEmbodiedEntityIntersectedByRay	(	SEmbodiedEntityIntersectionItem &	s_item,
		const CRay3 &	c_ray,
		CEmbodiedEntity &	c_entity
	)

Returns the closest intersection with an embodied entity to the ray start.

This function allows you to exclude one entity from the list of intersections.

Parameters

t_data	The data of the intersection, if any.
c_ray	The ray to test for intersections.
c_entity	The entity to exclude from the intersection check.

Returns

true if an intersection is found

Definition at line 61 of file physics_engine.cpp.

GetEmbodiedEntitiesIntersectedByRay()

bool argos::GetEmbodiedEntitiesIntersectedByRay	(	TEmbodiedEntityIntersectionData &	t_data,
		const CRay3 &	c_ray
	)

Checks whether the given ray intersects any entity.

The t_data parameter is cleared.

Parameters

t_data	The list of intersections found.
c_ray	The ray to test for intersections.

Returns

true if at least one intersection is found

Definition at line 21 of file physics_engine.cpp.

GetNode()

TConfigurationNode& argos::GetNode ( TConfigurationNode &  t_node, const std::string &  str_tag  )

inline

Given a tree root node, returns the first of its child nodes with the wanted name.

Given an XML tree, this function checks for the existence of a first-level node in this tree (i.e., a direct child of the root node) with the given name.

Parameters

t_node	the root node of the XML tree
str_tag	the name of the wanted child node

Returns

the first child node with the given name

Exceptions

CARGoSException

if no child node with the wanted name exists

Definition at line 63 of file argos_configuration.h.

GetNodeAttribute() [1/4]

void argos::GetNodeAttribute ( TConfigurationNode &  t_node, const std::string &  str_attribute, bool &  b_buffer  )

inline

Returns the value of a node's attribute.

This function is an overloaded version of the templetized GetNodeAttribute() in which the buffer is a boolean.

Parameters

t_node	the node
str_attribute	the name of the wanted attribute
b_buffer	a buffer where the value must be stored

Exceptions

CARGoSException

if an error occurred (i.e., parse error) or the attribute does not exist

See also

GetNodeAttribute()

Definition at line 231 of file argos_configuration.h.

GetNodeAttribute() [2/4]

void argos::GetNodeAttribute ( TConfigurationNode &  t_node, const std::string &  str_attribute, SInt8 &  n_buffer  )

inline

Returns the value of a node's attribute.

This function is an overloaded version of the templetized GetNodeAttribute() in which the buffer is a SInt8.

Parameters

t_node	the node
str_attribute	the name of the wanted attribute
n_buffer	a buffer where the value must be stored

Exceptions

CARGoSException

if an error occurred (i.e., parse error) or the attribute does not exist

See also

GetNodeAttribute()

Definition at line 289 of file argos_configuration.h.

GetNodeAttribute() [3/4]

template<typename T >

void argos::GetNodeAttribute	(	TConfigurationNode &	t_node,
		const std::string &	str_attribute,
		T &	t_buffer
	)

Returns the value of a node's attribute.

XML nodes can have attributes: <mynode attribute1="this is a string attribute" attribute2="-87" attribute3="-0.5, 12.3, 4" > This function is templetized. This means that you can pass any variable type to this function and parsing will occur automatically. For instance: std::string strValue; GetNodeAttribute(tMyNode, "attribute1", strValue); // tMyNode points to <mynode> // strValue now is "this is a string attribute" SInt32 nValue; GetNodeAttribute(tMyNode, "attribute2", nValue); // tMyNode points to <mynode> // nValue now is -87 CVector3 cValue; GetNodeAttribute(tMyNode, "attribute3", cValue); // tMyNode points to <mynode> // cValue now is CVector3(-0.5, 12.3, 4)

Parameters

t_node	the node
str_attribute	the name of the wanted attribute
t_buffer	a buffer where the value must be stored

Exceptions

CARGoSException

if an error occurred (i.e., parse error) or the attribute does not exist

See also

GetNodeAttributeOrDefault()

Definition at line 208 of file argos_configuration.h.

GetNodeAttribute() [4/4]

void argos::GetNodeAttribute ( TConfigurationNode &  t_node, const std::string &  str_attribute, UInt8 &  un_buffer  )

inline

Returns the value of a node's attribute.

This function is an overloaded version of the templetized GetNodeAttribute() in which the buffer is a UInt8.

Parameters

t_node	the node
str_attribute	the name of the wanted attribute
un_buffer	a buffer where the value must be stored

Exceptions

CARGoSException

if an error occurred (i.e., parse error) or the attribute does not exist

See also

GetNodeAttribute()

Definition at line 264 of file argos_configuration.h.

GetNodeAttributeOrDefault() [1/4]

void argos::GetNodeAttributeOrDefault ( TConfigurationNode &  t_node, const std::string &  str_attribute, bool &  b_buffer, const bool  b_default  )

inline

Returns the value of a node's attribute, or the passed default value.

This function is an overloaded version of the templetized GetNodeAttributeOrDefault() in which the buffer is a boolean. stored in the buffer variable instead.

Parameters

t_node	the node
str_attribute	the name of the wanted attribute
b_buffer	a buffer where the value must be stored
b_default	a default value to be used if the attribute does not exist

Exceptions

CARGoSException

if an error occurred (i.e., parse error)

See also

GetNodeAttributeOrDefault()

Definition at line 344 of file argos_configuration.h.

GetNodeAttributeOrDefault() [2/4]

void argos::GetNodeAttributeOrDefault ( TConfigurationNode &  t_node, const std::string &  str_attribute, SInt8 &  n_buffer, const SInt8  n_default  )

inline

Returns the value of a node's attribute, or the passed default value.

This function is an overloaded version of the templetized GetNodeAttributeOrDefault() in which the buffer is a SInt8. stored in the buffer variable instead.

Parameters

t_node	the node
str_attribute	the name of the wanted attribute
n_buffer	a buffer where the value must be stored
n_default	a default value to be used if the attribute does not exist

Exceptions

CARGoSException

if an error occurred (i.e., parse error)

See also

GetNodeAttributeOrDefault()

Definition at line 409 of file argos_configuration.h.

GetNodeAttributeOrDefault() [3/4]

template<typename T >

void argos::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.

This function works like GetNodeAttribute(). The only difference is that if the wanted attribute does not exist, the passed default is stored in the buffer instead. stored in the buffer variable instead.

Parameters

t_node	the node
str_attribute	the name of the wanted attribute
t_buffer	a buffer where the value must be stored
t_default	a default value to be used if the attribute does not exist

Exceptions

CARGoSException

if an error occurred (i.e., parse error)

See also

GetNodeAttribute()

Definition at line 318 of file argos_configuration.h.

GetNodeAttributeOrDefault() [4/4]

void argos::GetNodeAttributeOrDefault ( TConfigurationNode &  t_node, const std::string &  str_attribute, UInt8 &  un_buffer, const UInt8  un_default  )

inline

Returns the value of a node's attribute, or the passed default value.

This function is an overloaded version of the templetized GetNodeAttributeOrDefault() in which the buffer is a UInt8. stored in the buffer variable instead.

Parameters

t_node	the node
str_attribute	the name of the wanted attribute
un_buffer	a buffer where the value must be stored
un_default	a default value to be used if the attribute does not exist

Exceptions

CARGoSException

if an error occurred (i.e., parse error)

See also

GetNodeAttributeOrDefault()

Definition at line 381 of file argos_configuration.h.

GetNodeText()

template<typename T >

void argos::GetNodeText	(	TConfigurationNode &	t_node,
		T &	t_buffer
	)

Returns the text of the passed XML node A node text is as follows:

<mynode1>this is the text</mynode1>
<mynode2>25</mynode2>
<mynode3>3.14, 5.87</mynode3>

This function is templetized. This means that you can pass any variable type to this function and parsing will occur automatically. For instance:

std::string strText;
GetNodeText(tMyNode1, strText); // tMyNode1 points to <mynode1>
                                // strText now is "this is the text"
UInt32 unText;
GetNodeText(tMyNode2, unText);  // tMyNode2 points to <mynode2>
                                // unText now is 25
CVector2 cText;
GetNodeText(tMyNode3, cText);   // tMyNode3 points to <mynode3>
                                // cText now is CVector2(3.14, 5.87)

Parameters

t_node	the node
t_buffer	a buffer where the text must be stored

Exceptions

CARGoSException

if an error occurred (i.e., parse error) or the node has no text value

See also

GetNodeTextOrDefault()

Definition at line 128 of file argos_configuration.h.

GetNodeTextOrDefault()

template<typename T >

void argos::GetNodeTextOrDefault	(	TConfigurationNode &	t_node,
		T &	t_buffer,
		const T &	t_default
	)

Returns the text of the passed XML node, or the passed default value.

This function works like GetNodeText(). The only difference is that if no text value is found, the passed default is stored in the buffer variable instead.

Parameters

t_node	the node
t_buffer	a buffer where the text must be stored
t_default	a default value to be used if the node has no text

Exceptions

CARGoSException

if an error occurred (i.e., parse error)

See also

GetNodeText()

Definition at line 152 of file argos_configuration.h.

GetTag()

template<typename DERIVED , typename BASE >

size_t argos::GetTag

(

)

Returns the value of the tag associated to DERIVED

Definition at line 116 of file vtable.h.

GetVTable()

template<typename CONTEXT , typename BASE , typename FUNCTION >

CVTable<CONTEXT, BASE, FUNCTION>& argos::GetVTable

(

)

Function that returns a reference to the static vtable.

Definition at line 199 of file vtable.h.

INIT_VTABLE_FOR()

argos::INIT_VTABLE_FOR

(

CEntity

)

Insert()

void argos::Insert	(	std::vector< std::vector< CConvexHull::TEdge > > &	vec_edges,
		const std::array< UInt32, 3 > &	arr_vertices
	)

Definition at line 16 of file convex_hull.cpp.

Interpolate()

Real argos::Interpolate ( Real  f_x, const std::vector< std::pair< Real, Real > > &  c_points  )

inline

Return the value of the linear interpolation.

Parameters

f_x	the value of x that you want to interpolate
c_points	vector of points NOTE: the vector has to be ordered in INCREASING ORDER.

Returns

value of y.

Definition at line 219 of file general.h.

ItemLessThan()

bool argos::ItemLessThan	(	const CQTOpenGLLuaStateTreeItem *	pc_i1,
		const CQTOpenGLLuaStateTreeItem *	pc_i2
	)

Definition at line 71 of file qtopengl_lua_statetree_item.cpp.

LaunchThreadBalanceLength()

void* argos::LaunchThreadBalanceLength

(

void *

p_data

)

Definition at line 40 of file space_multi_thread_balance_length.cpp.

LaunchUpdateThreadBalanceQuantity()

void* argos::LaunchUpdateThreadBalanceQuantity

(

void *

p_data

)

Definition at line 40 of file space_multi_thread_balance_quantity.cpp.

LuaRNGBernoulli()

int argos::LuaRNGBernoulli

(

lua_State *

pt_state

)

Definition at line 27 of file lua_utility.cpp.

LuaRNGExponential()

int argos::LuaRNGExponential

(

lua_State *

pt_state

)

Definition at line 119 of file lua_utility.cpp.

LuaRNGGaussian()

int argos::LuaRNGGaussian

(

lua_State *

pt_state

)

Definition at line 149 of file lua_utility.cpp.

LuaRNGPoisson()

int argos::LuaRNGPoisson

(

lua_State *

pt_state

)

Definition at line 134 of file lua_utility.cpp.

LuaRNGUniform()

int argos::LuaRNGUniform

(

lua_State *

pt_state

)

Definition at line 52 of file lua_utility.cpp.

LuaRNGUniformInt()

int argos::LuaRNGUniformInt

(

lua_State *

pt_state

)

Definition at line 88 of file lua_utility.cpp.

ManageCollisionBetweenGripperAndGrippable()

int argos::ManageCollisionBetweenGripperAndGrippable	(	cpArbiter *	pt_arb,
		cpSpace *	pt_space,
		void *	p_data
	)

Definition at line 159 of file dynamics2d_gripping.cpp.

MatchPattern()

bool argos::MatchPattern	(	const std::string &	str_input,
		const std::string &	str_pattern
	)

Returns true if str_pattern is matched by str_input.

Internally uses the C function regcomp().

Parameters

str_input	the input string to analyze.
str_pattern	the extended regular expression to match.

Returns

true if str_pattern is matched by str_input.

Definition at line 106 of file string_utilities.cpp.

Max() [1/2]

template<typename T >

T argos::Max	(	const T &	t_v1,
		const T &	t_v2
	)

Returns the bigger of the two passed arguments.

This version accepts const references as arguments.

Returns

the bigger of the two passed arguments.

Definition at line 95 of file general.h.

Max() [2/2]

template<typename T >

T& argos::Max	(	T &	t_v1,
		T &	t_v2
	)

Returns the bigger of the two passed arguments.

This version accepts non-const references as arguments.

Returns

the bigger of the two passed arguments.

Definition at line 104 of file general.h.

Min() [1/2]

template<typename T >

T argos::Min	(	const T &	t_v1,
		const T &	t_v2
	)

Returns the smaller of the two passed arguments.

This version accepts const references as arguments.

Returns

the smaller of the two passed arguments.

Definition at line 77 of file general.h.

Min() [2/2]

template<typename T >

T& argos::Min	(	T &	t_v1,
		T &	t_v2
	)

Returns the smaller of the two passed arguments.

This version accepts non-const references as arguments.

Returns

the smaller of the two passed arguments.

Definition at line 86 of file general.h.

NodeAttributeExists()

bool argos::NodeAttributeExists ( TConfigurationNode &  t_node, const std::string &  str_attribute  )

inline

Returns true if the specified attribute of a node exists.

Parameters

t_node	the node whose attribute we want to search for
str_attribute	the name of the attribute to search for

Returns

true if the attribute exists, false otherwise

Definition at line 172 of file argos_configuration.h.

NodeExists()

bool argos::NodeExists ( TConfigurationNode &  t_node, const std::string &  str_tag  ) throw ( )

inline

Given a tree root node, returns true if one of its child nodes has the wanted name.

Given an XML tree, this function checks for the existence of a first-level node in this tree (i.e., a direct child of the root node) with the given name.

Parameters

t_node	the root node of the XML tree
str_tag	the name of the wanted child node

Returns

true when the node exists, false otherwise

Definition at line 44 of file argos_configuration.h.

NormalizedDifference() [1/2]

CDegrees argos::NormalizedDifference ( const CDegrees &  c_angle1, const CDegrees &  c_angle2  )

inline

Calculates the normalized difference between the given angles.

The difference is calculated as c_angle1 - c_angle2 and normalized in the range [-180,180].

Parameters

c_angle1	The first angle
c_angle2	The second angle

Returns

The smallest difference between the two angles

Definition at line 528 of file angles.h.

NormalizedDifference() [2/2]

CRadians argos::NormalizedDifference ( const CRadians &  c_angle1, const CRadians &  c_angle2  )

inline

Calculates the normalized difference between the given angles.

The difference is calculated as c_angle1 - c_angle2 and normalized in the range [-pi,pi].

Parameters

c_angle1	The first angle
c_angle2	The second angle

Returns

The smallest difference between the two angles

Definition at line 510 of file angles.h.

operator-()

::rusage argos::operator-	(	const ::rusage &	t_resource1,
		const ::rusage &	t_resource2
	)

Definition at line 89 of file profiler.cpp.

operator<<() [1/10]

std::ostream& argos::operator<<	(	std::ostream &	c_os,
		const CByteArray &	c_byte_array
	)

It streams the byte array through the given stream. Useful for files, for instance.

Parameters

c_os	the C++ output stream the byte array to.
c_byte_array	the byte array to stream.

Returns

the new state of the output stream.

Definition at line 530 of file byte_array.cpp.

operator<<() [2/10]

std::ostream& argos::operator<<	(	std::ostream &	c_os,
		const CCI_EPuckProximitySensor::SReading &	s_reading
	)

Definition at line 92 of file ci_epuck_proximity_sensor.cpp.

operator<<() [3/10]

std::ostream & argos::operator<<	(	std::ostream &	c_os,
		const CCI_EPuckProximitySensor::TReadings &	t_readings
	)

Definition at line 102 of file ci_epuck_proximity_sensor.cpp.

operator<<() [4/10]

std::ostream & argos::operator<<	(	std::ostream &	c_os,
		const CCI_EyeBotLightSensor::SReading &	s_reading
	)

Definition at line 76 of file ci_eyebot_light_sensor.cpp.

operator<<() [5/10]

std::ostream & argos::operator<<	(	std::ostream &	c_os,
		const CCI_EyeBotProximitySensor::SReading &	s_reading
	)

Definition at line 77 of file ci_eyebot_proximity_sensor.cpp.

operator<<() [6/10]

std::ostream & argos::operator<<	(	std::ostream &	c_os,
		const CCI_FootBotBaseGroundSensor::SReading &	s_reading
	)

Definition at line 67 of file ci_footbot_base_ground_sensor.cpp.

operator<<() [7/10]

std::ostream & argos::operator<<	(	std::ostream &	c_os,
		const CCI_FootBotLightSensor::SReading &	s_reading
	)

Definition at line 76 of file ci_footbot_light_sensor.cpp.

operator<<() [8/10]

std::ostream & argos::operator<<	(	std::ostream &	c_os,
		const CCI_FootBotMotorGroundSensor::SReading &	s_reading
	)

Definition at line 38 of file ci_footbot_motor_ground_sensor.cpp.

operator<<() [9/10]

std::ostream & argos::operator<<	(	std::ostream &	c_os,
		const CCI_FootBotProximitySensor::SReading &	s_reading
	)

Definition at line 77 of file ci_footbot_proximity_sensor.cpp.

operator<<() [10/10]

std::ostream& argos::operator<< ( std::ostream &  c_os, const SLogColor &  s_log_color  )

inline

Stream operator that accepts the stream modifier.

See also

SLogColor

Definition at line 78 of file argos_colored_text.h.

operator==()

bool argos::operator==	(	const SAnchor *	ps_anchor,
		const std::string &	str_id
	)

Returns true if the anchor id matches the given id.

This method makes it easier to run functions such as std::find().

Parameters

ps_anchor	A pointer to the anchor.
str_id	The id to compare.

Returns

true if the anchor id matches the given id.

Definition at line 449 of file embodied_entity.cpp.

ParseValues() [1/2]

template<typename T >

void argos::ParseValues	(	const std::string &	str_input,
		const UInt32	un_num_fields,
		T *	pt_field_buffer,
		const char	ch_delimiter = '\n'
	)

Definition at line 96 of file string_utilities.h.

ParseValues() [2/2]

template<typename T >

void argos::ParseValues	(	std::istream &	str_input,
		UInt32	un_num_fields,
		T *	pt_field_buffer,
		const char	ch_delimiter = '\n'
	)

Definition at line 70 of file string_utilities.h.

PrintStackEntry()

void argos::PrintStackEntry	(	CARGoSLog &	c_log,
		lua_State *	pt_state,
		SInt32	n_index
	)

Definition at line 217 of file lua_utility.cpp.

QueryPlugins()

void argos::QueryPlugins

(

const std::string &

str_query

)

Definition at line 52 of file query_plugins.cpp.

QuerySearchPlugins()

template<class TYPE >

void argos::QuerySearchPlugins	(	const std::string &	str_query,
		TQueryResult &	t_result
	)

Definition at line 60 of file query_plugins.h.

QueryShowList()

template<class TYPE >

void argos::QueryShowList

(

const std::string &

str_header

)

Definition at line 84 of file query_plugins.h.

QueryShowPluginDescription()

void argos::QueryShowPluginDescription

(

const std::string &

str_query

)

Definition at line 19 of file query_plugins.cpp.

RecursivePrintGlobals()

void argos::RecursivePrintGlobals	(	CARGoSLog &	c_log,
		lua_State *	pt_state,
		size_t	un_depth
	)

Definition at line 229 of file lua_utility.cpp.

REGISTER_ACTUATOR() [1/8]

argos::REGISTER_ACTUATOR	(	CDirectionalLEDsDefaultActuator	,
		"directional_leds"	,
		"default"	,
		"Michael Allwright "	[allsey87 @gmail.com],
		"1.0"	,
		"The directional LEDs actuator."	,
		"This actuator controls a group of directional LEDs. For a complete description\n" "of its	usage,
		refer to the ci_leds_actuator.h file.\n\n" "REQUIRED XML CONFIGURATION\n\n" "< controllers >\n" " ...\n" "< my_controller ... >\n" " ...\n" "< actuators >\n" " ...\n" "< leds implementation=\"default\" />\n" " ...\n" " </actuators>\n" " ...\n" " </my_controller>\n" " ...\n" " </controllers>\n\n" "The 'medium' attribute sets the id of the LED medium declared in the <media>\n" "XML section.\n\n" "OPTIONAL XML CONFIGURATION\n\n" "None.\n"	,
		"Usable"
	)

REGISTER_ACTUATOR() [2/8]

argos::REGISTER_ACTUATOR	(	CFootBotDistanceScannerDefaultActuator	,
		"footbot_distance_scanner"	,
		"default"	,
		"Carlo Pinciroli "	[ilpincy @gmail.com],
		"1.0"	,
		"The foot-bot distance scanner actuator."	,
		"This actuator controls the foot-bot distance scanner. For a complete\n" "description of its	usage,
		refer to the ci_footbot_distance_scanner_actuator\n" "file.\n\n" "REQUIRED XML CONFIGURATION\n\n" "< controllers >\n" " ...\n" "< my_controller ... >\n" " ...\n" "< actuators >\n" " ...\n" "< footbot_distance_scanner implementation=\"default\" />\n" " ...\n" " </actuators>\n" " ...\n" " </my_controller>\n" " ...\n" " </controllers>\n\n" "OPTIONAL XML CONFIGURATION\n\n" "None for the time being.\n"	,
		"Usable"
	)

REGISTER_ACTUATOR() [3/8]

argos::REGISTER_ACTUATOR	(	CFootBotTurretDefaultActuator	,
		"footbot_turret"	,
		"default"	,
		"Carlo Pinciroli "	[ilpincy @gmail.com],
		"1.0"	,
		"The foot-bot turret actuator."	,
		"This actuator controls the foot-bot turret. For a complete\n" "description of its	usage,
		refer to the ci_footbot_turret_actuator\n" "file.\n\n" "REQUIRED XML CONFIGURATION\n\n" "< controllers >\n" " ...\n" "< my_controller ... >\n" " ...\n" "< actuators >\n" " ...\n" "< footbot_turret implementation=\"default\" />\n" " ...\n" " </actuators>\n" " ...\n" " </my_controller>\n" " ...\n" " </controllers>\n\n" "OPTIONAL XML CONFIGURATION\n\n" "None for the time being.\n"	,
		"Usable"
	)

REGISTER_ACTUATOR() [4/8]

argos::REGISTER_ACTUATOR	(	CMagnetsDefaultActuator	,
		"magnets"	,
		"default"	,
		"Michael Allwright "	[allsey87 @gmail.com],
		"1.0"	,
		"The (electro)magnet actuator."	,
		"This actuator is used to modify the magnetic field of a magnet entity in the\n" "simulation. A magnetic entity has a passive and an active field. The overall\n" "field of a magnetic entity is calculated as:\n\n" "	field = passive_field + (current x active_field)\n\n" "This actuator allows you to set the current,
		a scalar multiplier of the active\n" "field.\n\n" "REQUIRED XML CONFIGURATION\n\n" "< controllers >\n" " ...\n" "< my_controller ... >\n" " ...\n" "< actuators >\n" " ...\n" "< magnets implementation=\"default\"/>\n" " ...\n" " </actuators>\n" " ...\n" " </my_controller>\n" " ...\n" " </controllers>\n\n" "OPTIONAL XML CONFIGURATION\n\n" "None.\n"	,
		"Under development"
	)

REGISTER_ACTUATOR() [5/8]

argos::REGISTER_ACTUATOR	(	CPrototypeJointsDefaultActuator	,
		"joints"	,
		"default"	,
		"Michael Allwright "	[allsey87 @gmail.com],
		"1.0"	,
		"The prototype joints actuator: controls a prototype entity's joints."	,
		"This actuator is used to control the joints inside a prototype entity. To\n" "control a	joint,
		add a joint child node to the joints node. Each child node has\n" "three	attributes,
		all of which are required.\n\n" "REQUIRED XML CONFIGURATION\n\n" "< controllers >\n" " ...\n" "< my_controller ... >\n" " ...\n" "< actuators >\n" " ...\n" "< joints implementation=\"default\">\n" " <joint id=\"joint0\" mode=\"velocity\" max_impulse=\"0.002f\"/>\n" " <joint id=\"joint1\" mode=\"position\" max_impulse=\"0.005f\"/>\n" " ...\n" " </joints>\n" " ...\n" " </actuators>\n" " ...\n" " </my_controller>\n" " ...\n" " </controllers>\n\n" "The 'id' attribute specifies which joint in the prototype joint equipped entity\n" "we are interested in controlling. The 'mode' attribute has three options:\n" "	disabled,
		position	,
		and velocity. The disabled mode is self-explanatory. The\n" "position and velocity modes enable closed loop position control and closed loop\n" "velocity control. The 'max_impulse' attribute defines the maximum impulse of\n" "the actuator in kg m/s for prismatic joints and kg m^2/s for revolute joints.\n\n" "OPTIONAL XML CONFIGURATION\n\n" "None."	,
		"Usable"
	)

REGISTER_ACTUATOR() [6/8]

argos::REGISTER_ACTUATOR	(	CRadiosDefaultActuator	,
		"radios"	,
		"default"	,
		"Michael Allwright "	[allsey87 @gmail.com],
		"1.0"	,
		"A generic radio actuator to send messages to nearby radios."	,
		"This radio actuator implementation allows an arbitary number of messages\n" "containing an arbitary number of bytes to be sent to nearby radios. The\n" "implementation of this actuator is very basic and any concepts such as\n" "	throughput,
		addressing	,
		or formatting of a message 's contents is beyond the\n" "scope of this actuator 's implementation.\n\n" "REQUIRED XML CONFIGURATION\n\n" "< controllers >\n" " ...\n" "< my_controller ... >\n" " ...\n" "< actuators >\n" " ...\n" "< radios implementation=\"default\" medium=\"radios\" />\n" " ...\n" " </actuators>\n" " ...\n" " </my_controller>\n" " ...\n" " </controllers>\n\n" "The 'medium' attribute sets the id of the radio medium declared in the <media>\n" "XML section.\n\n" "OPTIONAL XML CONFIGURATION\n\n" "None.\n"	,
		"Usable"
	)

REGISTER_ACTUATOR() [7/8]

argos::REGISTER_ACTUATOR	(	CRangeAndBearingDefaultActuator	,
		"range_and_bearing"	,
		"default"	,
		"Carlo Pinciroli "	[ilpincy @gmail.com],
		"1.0"	,
		"The range and bearing actuator."	,
		"This actuator allows robots to perform situated	communication,
		i.	e.,
		a form of\n" "wireless communication whereby the receiver also knows the location of the\n" "sender with respect to its own frame of reference.\n" "This actuator allows a robot to send messages. To receive	messages,
		you need\n" "the range-and-bearing sensor.\n" "To use this	actuator,
		in controllers you must include the\n" "ci_range_and_bearing_actuator.h header.\n\n" "REQUIRED XML CONFIGURATION\n\n" "< controllers >\n" " ...\n" "< my_controller ... >\n" " ...\n" "< actuators >\n" " ...\n" "< range_and_bearing implementation=\"default\" />\n" " ...\n" " </actuators>\n" " ...\n" " </my_controller>\n" " ...\n" " </controllers>\n\n" "OPTIONAL XML CONFIGURATION\n\n" "None.\n"	,
		"Usable"
	)

REGISTER_ACTUATOR() [8/8]

argos::REGISTER_ACTUATOR	(	CTagsDefaultActuator	,
		"tags"	,
		"default"	,
		"Michael Allwright "	[allsey87 @gmail.com],
		"1.0"	,
		"The tags actuator."	,
		"This actuator controls the payloads of a group of tags. The idea" "is to represent an LCD screen that displays different tags. For a" "complete description of its	usage,
		refer to the ci_tags_actuator.h" " file.\n\n" "REQUIRED XML CONFIGURATION\n\n" "< controllers >\n" " ...\n" "< my_controller ... >\n" " ...\n" "< actuators >\n" " ...\n" "< tags implementation=\"default\" />\n" " ...\n" " </actuators>\n" " ...\n" " </my_controller>\n" " ...\n" " </controllers>\n\n" "OPTIONAL XML CONFIGURATION\n\n" "None.\n"	,
		"Usable"
	)

REGISTER_BATTERY_DISCHARGE_MODEL() [1/3]

argos::REGISTER_BATTERY_DISCHARGE_MODEL	(	CBatteryDischargeModelMotion	,
		"motion"
	)

REGISTER_BATTERY_DISCHARGE_MODEL() [2/3]

argos::REGISTER_BATTERY_DISCHARGE_MODEL	(	CBatteryDischargeModelTime	,
		"time"
	)

REGISTER_BATTERY_DISCHARGE_MODEL() [3/3]

argos::REGISTER_BATTERY_DISCHARGE_MODEL	(	CBatteryDischargeModelTimeMotion	,
		"time_motion"
	)

REGISTER_CAMERA_SENSOR_ALGORITHM() [1/3]

argos::REGISTER_CAMERA_SENSOR_ALGORITHM	(	CCameraSensorDirectionalLEDDetectorAlgorithm	,
		"directional_led_detector"	,
		"Michael Allwright "	[allsey87 @gmail.com],
		"1.0"	,
		"This algorithm detects nearby LEDs seen by the camera and\n" "returns the X and Y coordinates on the sensor"	,
		"This algorithm detects nearby LEDs seen by the camera and\n" "returns the X and Y coordinates on the sensor"	,
		"Under development"
	)

REGISTER_CAMERA_SENSOR_ALGORITHM() [2/3]

argos::REGISTER_CAMERA_SENSOR_ALGORITHM	(	CCameraSensorLEDDetectorAlgorithm	,
		"led_detector"	,
		"Michael Allwright "	[allsey87 @gmail.com],
		"1.0"	,
		"This algorithm detects nearby LEDs seen by the camera and\n" "returns the X and Y coordinates on the sensor"	,
		"This algorithm detects nearby LEDs seen by the camera and\n" "returns the X and Y coordinates on the sensor"	,
		"Under development"
	)

REGISTER_CAMERA_SENSOR_ALGORITHM() [3/3]

argos::REGISTER_CAMERA_SENSOR_ALGORITHM	(	CCameraSensorTagDetectorAlgorithm	,
		"tag_detector"	,
		"Michael Allwright "	[allsey87 @gmail.com],
		"1.0"	,
		"This algorithm detects nearby tags seen by the camera and\n" "returns the coordinates of their corners to the sensor"	,
		"This algorithm detects nearby tags seen by the camera and\n" "returns the coordinates of their corners to the sensor"	,
		"Under development"
	)

REGISTER_CONTROLLER()

argos::REGISTER_CONTROLLER	(	CLuaController	,
		"lua_controller"
	)

REGISTER_DYNAMICS3D_PLUGIN() [1/3]

argos::REGISTER_DYNAMICS3D_PLUGIN	(	CDynamics3DFloorPlugin	,
		"floor"	,
		"Michael Allwright "	[allsey87 @gmail.com],
		"1.0"	,
		"Inserts a floor into the 3D dynamics engine"	,
		"For a description on how to use this	plugin,
		please consult the documentation\n" "for the dynamics3d physics engine plugin"	,
		"Usable"
	)

REGISTER_DYNAMICS3D_PLUGIN() [2/3]

argos::REGISTER_DYNAMICS3D_PLUGIN	(	CDynamics3DGravityPlugin	,
		"gravity"	,
		"Michael Allwright "	[allsey87 @gmail.com],
		"1.0"	,
		"Applies a gravity force to all bodies in the simulation"	,
		"For a description on how to use this	plugin,
		please consult the documentation\n" "for the dynamics3d physics engine plugin"	,
		"Usable"
	)

REGISTER_DYNAMICS3D_PLUGIN() [3/3]

argos::REGISTER_DYNAMICS3D_PLUGIN	(	CDynamics3DMagnetismPlugin	,
		"magnetism"	,
		"Michael Allwright "	[allsey87 @gmail.com],
		"1.0"	,
		"Applies forces and torques between magnetic dipoles in the simulation"	,
		"For a description on how to use this	plugin,
		please consult the documentation\n" "for the dynamics3d physics engine plugin"	,
		"Usable"
	)

REGISTER_ENTITY() [1/10]

argos::REGISTER_ENTITY	(	CBoxEntity	,
		"box"	,
		"Carlo Pinciroli "	[ilpincy @gmail.com],
		"1.0"	,
		"A stretchable 3D box."	,
		"The box entity can be used to model	walls,
		obstacles or box-shaped grippable\n" "objects. It can be movable or not. A movable object can be pushed and gripped.\n" "An unmovable object is pretty much like a wall.\n\n" "REQUIRED XML CONFIGURATION\n\n" "To declare an unmovable object(i.e., a wall) you need the following:\n\n" "< arena ... >\n" " ...\n" "< box id=\"box1\" size=\"0.75,0.1,0.5\" movable=\"false\">\n" " <body position=\"0.4,2.3,0\" orientation=\"45,0,0\" />\n" " </box>\n" " ...\n" " </arena>\n\n" "To declare a movable object you need the following:\n\n" " <arena ...>\n" " ...\n" " <box id=\"box1\" size=\"0.75,0.1,0.5\" movable=\"true\" mass=\"2.5\">\n" " <body position=\"0.4,2.3,0\" orientation=\"45,0,0\" />\n" " </box>\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 'size' attribute specifies the size of the box along the three	axes,
		in\n" "the	X,
		Y	,
		Z order. When you add a	box,
		imagine it initially unrotated and\n" "centered in the origin. The	size,
		then	,
		corresponds to the extent along the	X,
		\n" "Y and Z axes.\n" "The 'movable' attribute specifies whether or not the object is movable. When\n" "set to 'false'	,
		the object is unmovable:if another object pushes against	it,
		\n" "the box won 't move. When the attribute is set to 'true'	,
		the box is movable\n" "upon pushing or gripping. When an object is	movable,
		the 'mass' attribute is\n" "required.\n" "The 'mass' attribute quantifies the mass of the box in kg.\n" "The 'body/position' attribute specifies the position of the base of the box in\n" "the arena. The three values are in the	X,
		Y	,
		Z order.\n" "The 'body/orientation' attribute specifies the orientation of the 3D box. All\n" "rotations are performed with respect to the center of mass. The order of the\n" "angles is	Z,
		Y	,
		X	,
		which means that the first number corresponds to the rotation\n" "around the Z	axis,
		the second around Y and the last around X. This reflects\n" "the internal convention used in	ARGoS,
		in which rotations are performed in\n" "that order. Angles are expressed in degrees.\n\n" "OPTIONAL XML CONFIGURATION\n\n" "It is possible to add any number of colored LEDs to the box. In this	way,
		\n" "the box is visible with a robot camera. The position and color of the\n" "LEDs is specified with the following syntax:\n\n" "< arena ... >\n" " ...\n" "< box id=\"box1\" size=\"0.75,0.1,0.5\" movable=\"true\" mass=\"2.5\">\n" " <body position=\"0.4,2.3,0\" orientation=\"45,0,0\" />\n" " <leds medium=\"id_of_led_medium\">\n" " <led offset=\" 0.15, 0.15,0.15\" anchor=\"origin\" color=\"white\" />\n" " <led offset=\"-0.15, 0.15,0\" anchor=\"origin\" color=\"red\" />\n" " <led offset=\" 0.15, 0.15,0\" anchor=\"origin\" color=\"blue\" />\n" " <led offset=\" 0.15,-0.15,0\" anchor=\"origin\" color=\"green\" />\n" " </leds>\n" " </box>\n" " ...\n" " </arena>\n\n" "In the	example,
		four LEDs are added to the box. The LEDs have\n" "different colors and are located one on the top and three\n" "around the box. The LEDs are managed by the LED medium declared in\n" "the< media > section of the configuration file with id \"id_of_led_medium\""	,
		"Usable"
	)

REGISTER_ENTITY() [2/10]

argos::REGISTER_ENTITY	(	CCylinderEntity	,
		"cylinder"	,
		"Carlo Pinciroli "	[ilpincy @gmail.com],
		"1.0"	,
		"A stretchable cylinder."	,
		"The cylinder entity can be used to model obstacles or cylinder-shaped\n" "grippable objects. The cylinder has a red LED on the center of one\n" "of the circular	surfaces,
		that allows perception using the cameras.\n" "The cylinder can be movable or not. A movable object can be pushed\n" "and gripped. An unmovable object is pretty much like a column.\n\n" "REQUIRED XML CONFIGURATION\n\n" "To declare an unmovable object(i.e., a column) you need the following:\n\n" "< arena ... >\n" " ...\n" "< cylinder id=\"cyl1\" radius=\"0.8\" height=\"0.5\" movable=\"false\">\n" " <body position=\"0.4,2.3,0\" orientation=\"45,0,0\" />\n" " </cylinder>\n" " ...\n" " </arena>\n\n" "To declare a movable object you need the following:\n\n" " <arena ...>\n" " ...\n" " <cylinder id=\"cyl1\" radius=\"0.8\" height=\"0.5\"\n" " movable=\"true\" mass=\"2.5\">\n" " <body position=\"0.4,2.3,0\" orientation=\"45,0,0\" />\n" " </cylinder>\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 'radius' and 'height' attributes specify the size of the cylinder. When\n" "you add a	cylinder,
		imagine it initially unrotated and centered in the origin.\n" "The base of the	cylinder,
		then	,
		is parallel to the XY plane and its height\n" "goes with the Z axis.\n" "The 'movable' attribute specifies whether or not the object is movable. When\n" "set to 'false'	,
		the object is unmovable:if another object pushes against	it,
		\n" "the cylinder won 't move. When the attribute is set to 'true'	,
		the cylinder is\n" "movable upon pushing or gripping. When an object is	movable,
		the 'mass'\n" "attribute is required.\n" "The 'mass' attribute quantifies the mass of the cylinder in kg.\n" "The 'body/position' attribute specifies the position of the base of the\n" "cylinder in the arena. The three values are in the	X,
		Y	,
		Z order.\n" "The 'body/orientation' attribute specifies the orientation of the cylinder. All\n" "rotations are performed with respect to the center of mass. The order of the\n" "angles is	Z,
		Y	,
		X	,
		which means that the first number corresponds to the rotation\n" "around the Z	axis,
		the second around Y and the last around X. This reflects\n" "the internal convention used in	ARGoS,
		in which rotations are performed in\n" "that order. Angles are expressed in degrees.\n\n" "OPTIONAL XML CONFIGURATION\n\n" "It is possible to add any number of colored LEDs to the cylinder. In this	way,
		\n" "the cylinder is visible with a robot camera. The position and color of the\n" "LEDs is specified with the following syntax:\n\n" "< arena ... >\n" " ...\n" "< cylinder id=\"cyl1\" radius=\"0.8\" height=\"0.5\"\n" " movable=\"true\" mass=\"2.5\">\n" " <body position=\"0.4,2.3,0\" orientation=\"45,0,0\" />\n" " <leds medium=\"id_of_led_medium\">\n" " <led offset=\" 0.15, 0.15,0.15\" anchor=\"origin\" color=\"white\" />\n" " <led offset=\"-0.15, 0.15,0\" anchor=\"origin\" color=\"red\" />\n" " <led offset=\" 0.15, 0.15,0\" anchor=\"origin\" color=\"blue\" />\n" " <led offset=\" 0.15,-0.15,0\" anchor=\"origin\" color=\"green\" />\n" " </leds>\n" " </cylinder>\n" " ...\n" " </arena>\n\n" "In the	example,
		four LEDs are added around the cylinder. The LEDs have\n" "different colors and are located around the cylinder. The LEDs are\n" "managed by the LED medium declared in the< media > section of the\n" "configuration file with id \"id_of_led_medium\""	,
		"Usable"
	)

REGISTER_ENTITY() [3/10]

argos::REGISTER_ENTITY	(	CEPuckEntity	,
		"e-puck"	,
		"Carlo Pinciroli "	[ilpincy @gmail.com],
		"1.0"	,
		"The e-puck robot."	,
		"The e-puck is a open-	hardware,
		extensible robot intended for education. In its\n" "simplest	form,
		it is a two-wheeled robot equipped with proximity	sensors,
		\n" "ground	sensors,
		light	sensors,
		a	microphone,
		a frontal	camera,
		and a ring of\n" "red LEDs. More information is available at http://www.epuck.org\n\n" "REQUIRED XML CONFIGURATION\n\n" "< arena ... >\n" " ...\n" "< e-puck id=\"eb0\">\n" " <body position=\"0.4,2.3,0.25\" orientation=\"45,90,0\" />\n" " <controller config=\"mycntrl\" />\n" " </e-puck>\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 'body/position' attribute specifies the position of the pucktom point of the\n" "e-puck in the arena. When the robot is untranslated and	unrotated,
		the\n" "pucktom point is in the origin and it is defined as the middle point between\n" "the two wheels on the XY plane and the lowest point of the robot on the Z\n" "	axis,
		that is the point where the wheels touch the floor. The attribute values\n" "are in the	X,
		Y	,
		Z order.\n" "The 'body/orientation' attribute specifies the orientation of the e-puck. All\n" "rotations are performed with respect to the pucktom point. The order of the\n" "angles is	Z,
		Y	,
		X	,
		which means that the first number corresponds to the rotation\n" "around the Z	axis,
		the second around Y and the last around X. This reflects\n" "the internal convention used in	ARGoS,
		in which rotations are performed in\n" "that order. Angles are expressed in degrees. When the robot is	unrotated,
		it\n" "is oriented along the X axis.\n" "The 'controller/config' attribute is used to assign a controller to the\n" "e-puck. The value of the attribute must be set to the id of a previously\n" "defined controller. Controllers are defined in the< controllers > XML subtree.\n\n" "OPTIONAL XML CONFIGURATION\n\n" "You can set the emission range of the range-and-bearing system. By	default,
		a\n" "message sent by an e-puck can be received up to 80cm. By using the 'rab_range'\n" "	attribute,
		you can change it	to,
		i.	e.,
		4m as follows:\n\n" "< arena ... >\n" " ...\n" "< e-puck id=\"eb0\" rab_range=\"4\">\n" " <body position=\"0.4,2.3,0.25\" orientation=\"45,90,0\" />\n" " <controller config=\"mycntrl\" />\n" " </e-puck>\n" " ...\n" " </arena>\n\n" "You can also set the data sent at each time step through the range-and-bearing\n" "system. By	default,
		a message sent by an e-puck is 2 bytes long. By using the\n" " 'rab_data_size'	attribute,
		you can change it	to,
		i.	e.,
		20 bytes as follows:\n\n" "< arena ... >\n" " ...\n" "< e-puck id=\"eb0\" rab_data_size=\"20\">\n" " <body position=\"0.4,2.3,0.25\" orientation=\"45,90,0\" />\n" " <controller config=\"mycntrl\" />\n" " </e-puck>\n" " ...\n" " </arena>\n\n" "You can also configure the battery of the robot. By	default,
		the battery never\n" "depletes. You can choose among several battery discharge	models
	)

REGISTER_ENTITY() [4/10]

argos::REGISTER_ENTITY	(	CEyeBotEntity	,
		"eye-bot"	,
		"Carlo Pinciroli "	[ilpincy @gmail.com],
		"1.0"	,
		"The eye-bot	robot,
		developed in the Swarmanoid project."	,
		"The eye-bot is a quad-rotor developed in the Swarmanoid Project. It is a\n" "fully autonomous robot with a rich set of sensors and actuators. For more\n" "	information,
		refer to the dedicated web page\n" "(http://www.swarmanoid.org/swarmanoid_hardware.php).\n\n" "REQUIRED XML CONFIGURATION\n\n" "< arena ... >\n" " ...\n" "< eye-bot id=\"eb0\">\n" " <body position=\"0.4,2.3,0.25\" orientation=\"45,0,0\" />\n" " <controller config=\"mycntrl\" />\n" " </eye-bot>\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 'body/position' attribute specifies the position of the bottom point of the\n" "eye-bot in the arena. When the robot is untranslated and	unrotated,
		the\n" "bottom point is in the origin and it is defined as the middle point between\n" "the two wheels on the XY plane and the lowest point of the robot on the Z\n" "	axis,
		that is the point where the wheels touch the floor. The attribute values\n" "are in the	X,
		Y	,
		Z order.\n" "The 'body/orientation' attribute specifies the orientation of the eye-bot. All\n" "rotations are performed with respect to the bottom point. The order of the\n" "angles is	Z,
		Y	,
		X	,
		which means that the first number corresponds to the rotation\n" "around the Z	axis,
		the second around Y and the last around X. This reflects\n" "the internal convention used in	ARGoS,
		in which rotations are performed in\n" "that order. Angles are expressed in degrees. When the robot is	unrotated,
		it\n" "is oriented along the X axis.\n" "The 'controller/config' attribute is used to assign a controller to the\n" "eye-bot. The value of the attribute must be set to the id of a previously\n" "defined controller. Controllers are defined in the< controllers > XML subtree.\n\n" "OPTIONAL XML CONFIGURATION\n\n" "You can set the emission range of the range-and-bearing system. By	default,
		a\n" "message sent by an eye-bot can be received up to 3m. By using the 'rab_range'\n" "	attribute,
		you can change it	to,
		i.	e.,
		4m as follows:\n\n" "< arena ... >\n" " ...\n" "< eye-bot id=\"eb0\" rab_range=\"4\">\n" " <body position=\"0.4,2.3,0.25\" orientation=\"45,0,0\" />\n" " <controller config=\"mycntrl\" />\n" " </eye-bot>\n" " ...\n" " </arena>\n\n" "You can also set the data sent at each time step through the range-and-bearing\n" "system. By	default,
		a message sent by a eye-bot is 10 bytes long. By using the\n" " 'rab_data_size'	attribute,
		you can change it	to,
		i.	e.,
		20 bytes as follows:\n\n" "< arena ... >\n" " ...\n" "< eye-bot id=\"eb0\" rab_data_size=\"20\">\n" " <body position=\"0.4,2.3,0.25\" orientation=\"45,0,0\" />\n" " <controller config=\"mycntrl\" />\n" " </eye-bot>\n" " ...\n" " </arena>\n\n" "You can also configure the battery of the robot. By	default,
		the battery never\n" "depletes. You can choose among several battery discharge	models
	)

REGISTER_ENTITY() [5/10]

argos::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"
	)

REGISTER_ENTITY() [6/10]

argos::REGISTER_ENTITY	(	CFootBotEntity	,
		"foot-bot"	,
		"Carlo Pinciroli "	[ilpincy @gmail.com],
		"1.0"	,
		"The foot-bot	robot,
		developed in the Swarmanoid project."	,
		"The foot-bot is a wheeled robot developed in the Swarmanoid Project. It is a\n" "modular robot with a rich set of sensors and actuators. For more	information,
		\n" "refer to the dedicated web page\n" "(http://www.swarmanoid.org/swarmanoid_hardware.php).\n\n" "REQUIRED XML CONFIGURATION\n\n" "< arena ... >\n" " ...\n" "< foot-bot id=\"fb0\">\n" " <body position=\"0.4,2.3,0.25\" orientation=\"45,0,0\" />\n" " <controller config=\"mycntrl\" />\n" " </foot-bot>\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 'body/position' attribute specifies the position of the bottom point of the\n" "foot-bot in the arena. When the robot is untranslated and	unrotated,
		the\n" "bottom point is in the origin and it is defined as the middle point between\n" "the two wheels on the XY plane and the lowest point of the robot on the Z\n" "	axis,
		that is the point where the wheels touch the floor. The attribute values\n" "are in the	X,
		Y	,
		Z order.\n" "The 'body/orientation' attribute specifies the orientation of the foot-bot. All\n" "rotations are performed with respect to the bottom point. The order of the\n" "angles is	Z,
		Y	,
		X	,
		which means that the first number corresponds to the rotation\n" "around the Z	axis,
		the second around Y and the last around X. This reflects\n" "the internal convention used in	ARGoS,
		in which rotations are performed in\n" "that order. Angles are expressed in degrees. When the robot is	unrotated,
		it\n" "is oriented along the X axis.\n" "The 'controller/config' attribute is used to assign a controller to the\n" "foot-bot. The value of the attribute must be set to the id of a previously\n" "defined controller. Controllers are defined in the< controllers > XML subtree.\n\n" "OPTIONAL XML CONFIGURATION\n\n" "You can set the emission range of the range-and-bearing system. By	default,
		a\n" "message sent by a foot-bot can be received up to 3m. By using the 'rab_range'\n" "	attribute,
		you can change it	to,
		i.	e.,
		4m as follows:\n\n" "< arena ... >\n" " ...\n" "< foot-bot id=\"fb0\" rab_range=\"4\">\n" " <body position=\"0.4,2.3,0.25\" orientation=\"45,0,0\" />\n" " <controller config=\"mycntrl\" />\n" " </foot-bot>\n" " ...\n" " </arena>\n\n" "You can also set the data sent at each time step through the range-and-bearing\n" "system. By	default,
		a message sent by a foot-bot is 10 bytes long. By using the\n" " 'rab_data_size'	attribute,
		you can change it	to,
		i.	e.,
		20 bytes as follows:\n\n" "< arena ... >\n" " ...\n" "< foot-bot id=\"fb0\" rab_data_size=\"20\">\n" " <body position=\"0.4,2.3,0.25\" orientation=\"45,0,0\" />\n" " <controller config=\"mycntrl\" />\n" " </foot-bot>\n" " ...\n" " </arena>\n\n" "You can also configure the battery of the robot. By	default,
		the battery never\n" "depletes. You can choose among several battery discharge	models
	)

REGISTER_ENTITY() [7/10]

argos::REGISTER_ENTITY	(	CLightEntity	,
		"light"	,
		"Carlo Pinciroli "	[ilpincy @gmail.com],
		"1.0"	,
		"A colored light."	,
		"The light entity is an entity that emits a light detectable by a robot camera\n" "(as a normal LED) or by light sensors. A light is	bodyless,
		therefore it must\n" "not be added to physics engines.\n" "A light is characterized by a color and an intensity. The color of the light\n" "is perceived by cameras. The intensity modifies the reading of the light\n" "sensors. The higher the	intensity,
		the closer the light is perceived.\n\n" "REQUIRED XML CONFIGURATION\n\n" "< arena ... >\n" " ...\n" "< light id=\"light0\"\n" " position=\"0.4,2.3,0.25\"\n" " orientation=\"0,0,0\"\n" " color=\"yellow\"\n" " intensity=\"1.0\"\n" " medium=\"leds\"/>\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 'position' attribute specifies the position of the center of the light.\n" "The attribute values are in the	X,
		Y	,
		Z order.\n" "The 'orientation' attribute specifies the orientation of the light. At the\n" "moment this attribute is mandatory but its value is ignored. In the	future,
		\n" "it will be used to implement a directional light.\n" "The 'color' attribute specifies the color of the light.\n" "The 'intensity' attribute sets the intensity of the light. When the value is\n" "1.	0,
		the light emits a normal amount of light. When it is 0.5 the amount of\n" "light is	half,
		and when the value is 2.0 the emission is doubled. The\n" "intensity of the light affects the readings of the light sensors but not\n" "those of the cameras.\n" "The 'medium' attribute is used to add the light the corresponding LED medium.\n\n" "OPTIONAL XML CONFIGURATION\n\n" "None.\n"	,
		"Usable"
	)

REGISTER_ENTITY() [8/10]

argos::REGISTER_ENTITY	(	CMiniQuadrotorEntity	,
		"mini-quadrotor"	,
		"Carlo Pinciroli "	[ilpincy @gmail.com],
		"1.0"	,
		"The mini-quadrotor	robot,
		developed at UPenn."	,
		"The mini-quadrotor is a fluing robot developed at UPenn by Vijay Kumar's group.\n" "It is a very agile	robot,
		able to perform fast and precise movements.\n\n" "REQUIRED XML CONFIGURATION\n\n" "< arena ... >\n" " ...\n" "< mini-quadrotor id=\"mq0\">\n" " <body position=\"0.4,2.3,2.0\" orientation=\"45,0,0\" />\n" " <controller config=\"mycntrl\" />\n" " </mini-quadrotor>\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 'body/position' attribute specifies the position of the bottom point of the\n" "mini-quadrotor in the arena. When the robot is untranslated and	unrotated,
		the\n" "bottom point is in the origin and it is defined as the middle point between\n" "the two wheels on the XY plane and the lowest point of the robot on the Z\n" "	axis,
		that is the point where the wheels touch the floor. The attribute values\n" "are in the	X,
		Y	,
		Z order.\n" "The 'body/orientation' attribute specifies the orientation of the\n" "mini-quadrotor. All rotations are performed with respect to the bottom point.\n" "The order of the angles is	Z,
		Y	,
		X	,
		which means that the first number corresponds\n" "to the rotation around the Z	axis,
		the second around Y and the last around X.\n" "This reflects the internal convention used in	ARGoS,
		in which rotations are\n" "performed in that order. Angles are expressed in degrees. When the robot is\n" "	unrotated,
		it is oriented along the X axis.\n" "The 'controller/config' attribute is used to assign a controller to the\n" "mini-quadrotor. The value of the attribute must be set to the id of a previously\n" "defined controller. Controllers are defined in the< controllers > XML subtree.\n\n" "OPTIONAL XML CONFIGURATION\n\n" "None.\n\n"	,
		"Under development"
	)

REGISTER_ENTITY() [9/10]

argos::REGISTER_ENTITY	(	CPrototypeEntity	,
		"prototype"	,
		"1.0"	,
		"Michael Allwright "	[allsey87 @gmail.com],
		"A generic and configurable entity"	,
		"The prototyping entity allows users to quickly implement new entities using an\n" "experiment's configuration file. A prototype entity is predominantly described\n" "as a set of links connected through joints. The joints can be	fixed,
		prismatic	,
		\n" "	revolute,
		spherical	,
		or planar. Sensors and actuators for prismatic and revolute\n" "joints are provided. Since each link defines an anchor in the embodied	entity,
		\n" "it is also possible to attach the following entities to any link in the model:\n" "the directional LED	entity,
		the LED	entity,
		the magnet	entity,
		the tag	entity,
		\n" "the radio	entity,
		and the proximity sensor equipped entity.\n\n" "REQUIRED XML CONFIGURATION\n\n" "< arena ... >\n" " ...\n" "< prototype id=\"pt0\" movable=\"true\">\n" " <body position=\"0.1,0.1,0.0\" orientation=\"45,0,0\" />\n" " <links ref=\"base\">\n" " <link id=\"base\" geometry=\"box\" size=\"0.1,0.1,0.1\"\n" " mass=\"1\" position=\"0,0,0\" orientation=\"0,0,0\" />\n" " </prototype>\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 the initialization aborts and the simulator will\n" "terminate. The movable attribute defines whether the reference link of a robot\n" "is fixed or not. This attribute is	useful,
		for	example,
		if you want to model a\n" "robotic arm whose links are	movable,
		but where there is one link(i.e. the\n" "reference link) that is fixed to the	ground,
		a	wall,
		or the ceiling.\n" "The body tag defines the position and orientation of the prototype entity in the\n" "global coordinate system. The most simple entity contains a single link and no\n" "joints. An important detail to note is the 'ref' attribute of the links node.\n" "This attribute specifies which link is to be used to refer to the prototype\n" "entity 's location. The example in the required configuration defines a single\n" "link with a box geometry. Three geometries for links are currently supported:\n" "	boxes,
		cylinders	,
		and spheres. The size of a box is defined using the size\n" "attribute while cylinders and spheres are defined using a radius attribute and a\n" "height attribute in the case of the cylinder. The mass of each link must be\n" "defined and specified in kilograms. The position and orientation of each link\n" "refer to the offset of the link in the entity 's local coordinate system.\n\n" "OPTIONAL XML CONFIGURATION\n\n" "In the following	example,
		additional links and joints are added to a prototype\n" "entity to form a small four-wheeled vehicle.\n\n" "< arena ... >\n" " ...\n" "< prototype id=\"vehicle\" movable=\"true\">\n" " <body position=\"0,0,0\" orientation=\"0,0,0\" />\n" " <links ref=\"base\">\n" " <link id=\"base\" geometry=\"box\" size=\"0.1,0.05,0.02\" mass=\"1\"\n" " position=\"0,0,0.01\" orientation=\"0,0,0\" />\n" " <link id=\"wheel_fl\" geometry=\"cylinder\" radius=\"0.02\" height=\".005\"\n" " mass=\".05\" position=\".025,.025,0.02\" orientation=\"0,0,-90\" />\n" " <link id=\"wheel_fr\" geometry=\"cylinder\" radius=\"0.02\" height=\".005\"\n" " mass=\".05\" position=\".025,-.025,0.02\" orientation=\"0,0,90\" />\n" " <link id=\"wheel_br\" geometry=\"cylinder\" radius=\"0.02\" height=\".005\"\n" " mass=\".05\" position=\"-.025,-.025,0.02\" orientation=\"0,0,90\" />\n" " <link id=\"wheel_bl\" geometry=\"cylinder\" radius=\"0.02\" height=\".005\"\n" " mass=\".05\" position=\"-.025,.025,0.02\" orientation=\"0,0,-90\" />\n" " </links>\n" " <joints>\n" " <joint id=\"base_wheel_fr\" type=\"revolute\" axis=\"0,0,1\">\n" " <parent link=\"base\" position=\".025,-.025,.01\" orientation=\"0,0,90\"/>\n" " <child link=\"wheel_fr\" position=\"0,0,0\" orientation=\"0,0,0\"/>\n" " </joint>\n" " <joint id=\"base_wheel_fl\" type=\"revolute\" axis=\"0,0,1\">\n" " <parent link=\"base\" position=\".025,.025,.01\" orientation=\"0,0,-90\"/>\n" " <child link=\"wheel_fl\" position=\"0,0,0\" orientation=\"0,0,0\"/>\n" " </joint>\n" " <joint id=\"base_wheel_br\" type=\"revolute\" axis=\"0,0,1\">\n" " <parent link=\"base\" position=\"-.025,-.025,.01\" orientation=\"0,0,90\"/>\n" " <child link=\"wheel_br\" position=\"0,0,0\" orientation=\"0,0,0\"/>\n" " </joint>\n" " <joint id=\"base_wheel_bl\" type=\"revolute\" axis=\"0,0,1\">\n" " <parent link=\"base\" position=\"-.025,.025,.01\" orientation=\"0,0,-90\"/>\n" " <child link=\"wheel_bl\" position=\"0,0,0\" orientation=\"0,0,0\"/>\n" " </joint>\n" " </joints>\n" " </prototype>\n" " ...\n" " </arena>\n\n" "In this	example,
		there are five links:the base of the vehicle and four wheels.\n" "The wheels are attached to the base using revolute joints. The joint node\n" "requires the joint type attribute and in the case of prismatic and revolute\n" "joints an axis which defines the joint 's degree of freedom. In addition to the\n" "axis	attribute,
		prismatic and revolute joints can also be limited using the\n" "limit attribute. In the case of prismatic	joints,
		this value is interpreted as a\n" "range in meters and in the case of revolute	joints,
		this value is interpreted as\n" "a range in degrees. The maximum and minimum values must be separated with the\n" "colon character. The joint node requires two child	nodes,
		namely the parent and\n" "child nodes which describe the links involved in the joint. Each of these nodes\n" "also specifies a position and an	orientation,
		which defines the offset from the\n" "link 's local coordinate system to the joint 's reference frame. Note that the\n" "prototype entity is consistent with ARGoS conventions and the origin of all\n" "coordinate systems is at the base of an entity and not at its center of mass.\n" "Prismatic and revolute joints support sensors and actuators which can control\n" "and monitor the position and velocity of a joint. Refer to the documentation on\n" "the joints sensor and joints actuator by querying the joints plugin. It is also\n" "possible to attach any number of devices to the links in a prototype entity:\n\n" "< arena ... >\n" " ...\n" "< prototype id=\"block\" movable=\"true\">\n" " <body position=\"0,0,0\" orientation=\"0,0,0\" />\n" " <links ref=\"base\">\n" " <link id=\"base\" geometry=\"box\" size=\".015,.015,.015\" mass=\"0.1\"\n" " position=\"0,0,0\" orientation=\"0,0,0\" />\n" " </links>\n" " <devices>\n" " <directional_leds medium=\"leds\">\n" " <directional_led anchor=\"base\" color=\"red\" observable_angle=\"180\"\n" " position=\"0,0,.0155\" orientation=\"0,0,0\"/>\n" " </directional_leds>\n" " <tags medium=\"tags\">\n" " <tag position=\"0,0,.0155\" orientation=\"0,0,0\" payload=\"0\"\n" " side_length=\".01\" observable_angle=\"180\" anchor=\"base\"/>\n" " </tags>\n" " <radios medium=\"nfc\">\n" " <radio anchor=\"base\" duplex_mode=\"half\" range=\"1\"\n" " position=\"0,0,0.0075\"/>\n" " </radios>\n" " </devices>\n" " </prototype>\n" " ...\n" " </arena>\n\n" "Each of these devices has three attributes in common: an	anchor,
		a	position,
		and\n" "an orientation. Using these attributes you can attach any number of these\n" "entities to any link in the prototype entity since each link creates an anchor.\n" "In addition to these	attributes,
		the entities have some attributes that define\n" "their characteristics. For	example,
		tags have a side length and	payload,
		while\n" "the directional LED has a color. The three devices in the example all require\n" "mediums. These mediums index the entities and allow them to be detected by\n" "sensors."	,
		"Usable"
	)

REGISTER_ENTITY() [10/10]

argos::REGISTER_ENTITY	(	CSpiriEntity	,
		"spiri"	,
		"Carlo Pinciroli "	[ilpincy @gmail.com],
		"1.0"	,
		"The spiri	robot,
		developed by Pleiades Robotics."	,
		"The spiri is a quad-rotor developed by Pleiades Robotics. It is a\n" "fully autonomous robot with a rich set of sensors and actuators. For more\n" "	information,
		refer to the dedicated web page(http://www.pleaides.ca/).\n\n" "REQUIRED XML CONFIGURATION\n\n" "< arena ... >\n" " ...\n" "< spiri id=\"sp0\">\n" " <body position=\"0.4,2.3,0.25\" orientation=\"45,0,0\" />\n" " <controller config=\"mycntrl\" />\n" " </spiri>\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 'body/position' attribute specifies the position of the bottom point of the\n" "spiri in the arena. When the robot is untranslated and	unrotated,
		the\n" "bottom point is in the origin and it is defined as the middle point between\n" "the two wheels on the XY plane and the lowest point of the robot on the Z\n" "	axis,
		that is the point where the wheels touch the floor. The attribute values\n" "are in the	X,
		Y	,
		Z order.\n" "The 'body/orientation' attribute specifies the orientation of the spiri. All\n" "rotations are performed with respect to the bottom point. The order of the\n" "angles is	Z,
		Y	,
		X	,
		which means that the first number corresponds to the rotation\n" "around the Z	axis,
		the second around Y and the last around X. This reflects\n" "the internal convention used in	ARGoS,
		in which rotations are performed in\n" "that order. Angles are expressed in degrees. When the robot is	unrotated,
		it\n" "is oriented along the X axis.\n" "The 'controller/config' attribute is used to assign a controller to the\n" "spiri. The value of the attribute must be set to the id of a previously\n" "defined controller. Controllers are defined in the< controllers > XML subtree.\n\n" "OPTIONAL XML CONFIGURATION\n\n" "You can set the emission range of the range-and-bearing system. By	default,
		a\n" "message sent by an spiri can be received up to 3m. By using the 'rab_range'\n" "	attribute,
		you can change it	to,
		i.	e.,
		4m as follows:\n\n" "< arena ... >\n" " ...\n" "< spiri id=\"sp0\" rab_range=\"4\">\n" " <body position=\"0.4,2.3,0.25\" orientation=\"45,0,0\" />\n" " <controller config=\"mycntrl\" />\n" " </spiri>\n" " ...\n" " </arena>\n\n" "You can also set the data sent at each time step through the range-and-bearing\n" "system. By	default,
		a message sent by a spiri is 10 bytes long. By using the\n" " 'rab_data_size'	attribute,
		you can change it	to,
		i.	e.,
		20 bytes as follows:\n\n" "< arena ... >\n" " ...\n" "< spiri id=\"sp0\" rab_data_size=\"20\">\n" " <body position=\"0.4,2.3,0.25\" orientation=\"45,0,0\" />\n" " <controller config=\"mycntrl\" />\n" " </spiri>\n" " ...\n" " </arena>\n\n" "You can also configure the battery of the robot. By	default,
		the battery never\n" "depletes. You can choose among several battery discharge	models
	)

REGISTER_ENTITY_OPERATION() [1/2]

argos::REGISTER_ENTITY_OPERATION	(	CQTOpenGLOperationDrawNormal	,
		CQTOpenGLWidget	,
		CQTOpenGLOperationDrawPrototypeNormal	,
		void	,
		CPrototypeEntity
	)

REGISTER_ENTITY_OPERATION() [2/2]

argos::REGISTER_ENTITY_OPERATION	(	CQTOpenGLOperationDrawSelected	,
		CQTOpenGLWidget	,
		CQTOpenGLOperationDrawPrototypeSelected	,
		void	,
		CPrototypeEntity
	)

REGISTER_MEDIUM() [1/5]

argos::REGISTER_MEDIUM	(	CDirectionalLEDMedium	,
		"directional_led"	,
		"Michael Allwright "	[allsey87 @gmail.com],
		"1.0"	,
		"Manages directional LED entities."	,
		"This medium is required to manage the directional LED	entities,
		so that\n" "the associated camera sensors can find them. If you use a camera	sensor,
		\n" "you must add this medium the sensors XML configuration.\n\n" "REQUIRED XML CONFIGURATION\n\n" "< directional_led id=\"led\" />\n\n" "OPTIONAL XML CONFIGURATION\n\n" "None for the time being\n"	,
		"Under development"
	)

REGISTER_MEDIUM() [2/5]

argos::REGISTER_MEDIUM	(	CLEDMedium	,
		"led"	,
		"Carlo Pinciroli "	[ilpincy @gmail.com],
		"1.0"	,
		"Manages the LEDs."	,
		"This medium is required to manage the LED	entities,
		thus allowing the\n" "associated camera sensors to work properly. If you intend to use a camera\n" "sensor that detects colored	blobs,
		you must add this medium to the XML\n" "configuration file.\n\n" "REQUIRED XML CONFIGURATION\n\n" "< led id=\"led\" />\n\n" "OPTIONAL XML CONFIGURATION\n\n" "None for the time being\n"	,
		"Under development"
	)

REGISTER_MEDIUM() [3/5]

argos::REGISTER_MEDIUM	(	CRABMedium	,
		"range_and_bearing"	,
		"Carlo Pinciroli "	[ilpincy @gmail.com],
		"1.0"	,
		"It simulates the communication across range-and-bearing-equipped robots."	,
		"This medium is required to simulate communication across range-and-bearing-\n" "equipped robots. You need to add it to the <media> section every time you add\n" "a range-and-bearing-equipped entity whose controller has a range-and-bearing\n" "device activated.\n\n" "REQUIRED XML CONFIGURATION\n\n" "<range_and_bearing id=\"rab\" />\n\n" "OPTIONAL XML CONFIGURATION\n\n" "By	default,
		the RAB medium requires two robots to be in direct line-of-sight in\n" "order to be able to exchange messages. You can toggle this behavior on or off\n" "through the 'check_occlusions' attribute:\n\n" "< range_and_bearing id=\"rab\" check_occlusions=\"false\" />\n\n"	,
		"Under development"
	)

REGISTER_MEDIUM() [4/5]

argos::REGISTER_MEDIUM	(	CRadioMedium	,
		"radio"	,
		"Michael Allwright "	[allsey87 @gmail.com],
		"1.0"	,
		"Enables communication between a radio actuator and radio sensor."	,
		"This medium indexes the radio entities in the space and allows\n" "transmitting radios to find nearby receiving radios.\n\n" "REQUIRED XML CONFIGURATION\n\n" "<radio id=\"radios\" />\n\n" "OPTIONAL XML CONFIGURATION\n\n" "None for the time being\n"	,
		"Under development"
	)

REGISTER_MEDIUM() [5/5]

argos::REGISTER_MEDIUM	(	CTagMedium	,
		"tag"	,
		"Michael Allwright "	[allsey87 @gmail.com],
		"1.0"	,
		"Manages tag entities."	,
		"This medium is required to manage the tag	entities,
		so that the\n" "associated camera sensors can find them. If you use a camera	sensor,
		you\n" "must add this medium the sensors XML configuration.\n\n" "REQUIRED XML CONFIGURATION\n\n" "< tag id=\"qrcodes\" />\n\n" "OPTIONAL XML CONFIGURATION\n\n" "None for the time being\n"	,
		"Under development"
	)

REGISTER_PHYSICS_ENGINE() [1/3]

argos::REGISTER_PHYSICS_ENGINE	(	CDynamics2DEngine	,
		"dynamics2d"	,
		"Carlo Pinciroli "	[ilpincy @gmail.com],
		"1.0"	,
		"A 2D dynamics physics engine."	,
		"This physics engine is a 2D dynamics engine based on the Chipmunk library\n" "(http://code.google.com/p/chipmunk-physics) version 6.0.1.\n\n" "REQUIRED XML CONFIGURATION\n\n" " <physics_engines>\n" " ...\n" " <dynamics2d id=\"dyn2d\" />\n" " ...\n" " </physics_engines>\n\n" "The 'id' attribute is necessary and must be unique among the physics engines.\n" "If two engines share the same	id,
		initialization aborts.\n\n" "OPTIONAL XML CONFIGURATION\n\n" "It is possible to set how many iterations this physics engine performs between\n" "each simulation step. By	default,
		this physics engine performs 10 steps every\n" "two simulation steps. This means	that,
		if the simulation step is	100ms,
		the\n" "physics engine step	is,
		by	default,
		10ms.	Sometimes,
		collisions and joints are\n" "not simulated with sufficient precision using these parameters. By increasing\n" "the number of	iterations,
		the temporal granularity of the solver increases and\n" "with it its	accuracy,
		at the cost of higher computational cost. To change the\n" "number of iterations per simulation step use this syntax:\n\n" "< physics_engines >\n" " ...\n" "< dynamics2d id=\"dyn2d\"\n" " iterations=\"20\" />\n" " ...\n" " </physics_engines>\n\n" "The plane of the physics engine can be translated on the Z	axis,
		to simulate\n" "for example hovering	objects,
		such as flying robots. To translate the plane\n" "2m up the Z	axis,
		use the 'elevation' attribute as follows:\n\n" "< physics_engines >\n" " ...\n" "< dynamics2d id=\"dyn2d\"\n" " elevation=\"2.0\" />\n" " ...\n" " </physics_engines>\n\n" "When not	specified,
		the elevation is	zero,
		which means that the plane\n" "corresponds to the XY plane.\n\n" "The friction parameters between the ground and movable boxes and cylinders can\n" "be overridden. You can set both the linear and angular friction parameters.\n" "The default value is 1.49 for each of them. To override the	values,
		use this\n" "syntax(all attributes are optional):\n\n" "< physics_engines >\n" " ...\n" "< dynamics2d id=\"dyn2d\">\n" " <friction box_linear_friction=\"1.0\"\n" " box_angular_friction=\"2.0\"\n" " cylinder_linear_friction=\"3.0\"\n" " cylinder_angular_friction=\"4.0\" />\n" " </dynamics2d>\n" " ...\n" " </physics_engines>\n\n" "For the the robots that use velocity-based	control,
		such as ground robots with\n" "the differential_steering	actuatore.g. the foot-bot and the e-puck,
		it is\n" "possible to customize robot-specific attributes that set the maximum force and\n" "torque the robot has. The syntax is as	follows,
		taking a foot-bot as example:\n\n" "< arena ... >\n" " ...\n" "< foot-bot id=\"fb0\">\n" " <body position=\"0.4,2.3,0.25\" orientation=\"45,0,0\" />\n" " <controller config=\"mycntrl\" />\n" " <!-- Specify new value for max_force and max_torque -->\n" " <dynamics2d>\n" " <differential_steering max_force=\"0.1\" max_torque=\"0.1\"/>\n" " </dynamics2d>\n" " </foot-bot>\n" " ...\n" " </arena>\n\n" "The attributes 'max_force' and 'max_torque' are both	optional,
		and they take the\n" "robot-specific default if not set. Check the code of the dynamics2d model of the\n" "robot you 're using to know the default values.\n\n" "Multiple physics engines can also be used. If multiple physics engines are	used,
		\n" "the disjoint union of the area within the arena assigned to each engine must cover\n" "the entire arena without overlapping. If the entire arena is not	covered,
		robots can\n" "\"escape\" the configured physics engines and cause a fatal exception (this is not an\n" "issue when a single physics engine is used, because the engine covers the entire arena\n" "by default). To use multiple physics	engines,
		use the following syntax(all attributes\n" "are mandatory):\n\n" "< physics_engines >\n" " ...\n" "< dynamics2d id=\"dyn2d0\">\n" " <boundaries>\n" " <top height=\"1.0\"/>\n" " <botton height=\"0.0\"/>\n" " <sides>\n" " <vertex point=\"0.0, 0.0\"/>\n" " <vertex point=\"4.0, 0.0\"/>\n" " <vertex point=\"4.0, 4.0\"/>\n" " <vertex point=\"0.0, 4.0\"/>\n" " </sides>\n" " </boundaries>\n" " </dynamics2d>\n" " <dynamics2d id=\"dyn2d1\">\n" " ..." " </dynamics2d>\n" " ...\n" " </physics_engines>\n\n" "The 'top' and 'bottom' nodes are relevant for 3D physics engines. For 2D\n" "	engines,
		it safe to set their height to 1.0 and 0.	0,
		respectively. A physics\n" "engine can be defined having any number of sides >=	3,
		as long as the sides form\n" "a closed polygon in the 2D plane. The vertices must be declared in\n" "counter-clockwise order. In the above	example,
		the physics engine \"dyn2d0\" is\n" "assigned to the area within the arena with lower-left coordinates (0,0) and\n" "upper-right coordinates (4,4) and vertices are specified in counter clockwise\n" "order: south-	east,
		south-	west,
		north-	west,
		north-east.\n\n" "OPTIMIZATION HINTS\n\n" "1. A single physics engine is generally sufficient for small swarms(say<=50\n" " robots) within a reasonably small arena to obtain faster than real-time\n" " performance with optimized code. For larger swarms and/or large	arenas,
		\n" " multiple engines should be used for maximum performance.\n\n" "2. In	general,
		using the same number of ARGoS threads as physics engines gives\n" " maximum performance(1-thread per engine per CPU core).\n\n" "3. Using multiple engines in simulations with any of the following\n" " characteristics generally incurs more overhead(due to thread context\n" " switching) than the performance benefits from multiple engines:\n" " - Small swarms\n" " - Small arenas\n" " - Less available ARGoS threads than assigned physics engines\n" " - Less available CPU cores than assigned ARGoS threads\n\n" "4. A good starting strategy for physics engine boundary assignment is to assign\n" " each physics engine the same amount of area within the arena. This will be\n" " sufficient for most cases. Depending on the nature of the	simulation,
		using\n" " non-homogeneous physics engine sizes may yield increased performance. An\n" " example would be a narrow hallway between larger open areas in the arena--the\n" " hallway will likely experience increased robot density and assigning more\n" " physics engines to that area than the relatively unpopulated open areas may\n" " increase performance.\n\n" "5. By	default,
		this engine uses the bounding-box tree method for collision shape\n" " indexing. This method is the default in Chipmunk and it works well most of\n" " the times.	However,
		if you are running simulations with hundreds or thousands\n" " of identical	robots,
		a different shape collision indexing is available:the\n" " spatial hash. The spatial hash is a grid stored in a hashmap. To get the max\n" " out of this indexing	method,
		you must set two parameters:the cell size and\n" " the suggested minimum number of cells in the space. According to the\n" " documentation of	Chipmunk,
		the cell size should correspond to the size of the\n" " bounding box of the most common object in the simulation;the minimum number\n" " of cells should be at least 10x the number of objects managed by the physics\n" " engine. To use this indexing	method,
		use this syntax(all attributes are\n" " mandatory):\n\n" "< physics_engines >\n" " ...\n" "< dynamics2d id=\"dyn2d\">\n" " <spatial_hash>\n" " <cell_size=\"1.0\"/>\n" " <cell_num=\"2.0\"/>\n" " </spatial_hash>\n" " </dynamics2d>\n" " ...\n" " </physics_engines>\n"	,
		"Usable"
	)

REGISTER_PHYSICS_ENGINE() [2/3]

argos::REGISTER_PHYSICS_ENGINE	(	CDynamics3DEngine	,
		"dynamics3d"	,
		"Michael Allwright "	[allsey87 @gmail.com],
		"1.0"	,
		"A 3D dynamics physics engine"	,
		"This physics engine is a 3D dynamics engine based on the Bullet Physics SDK\n" "(https://github.com/bulletphysics/bullet3).\n\n" "REQUIRED XML CONFIGURATION\n\n" " <physics_engines>\n" " ...\n" " <dynamics3d id=\"dyn3d\" />\n" " ...\n" " </physics_engines>\n\n" "The 'id' attribute is necessary and must be unique among the physics engines.\n\n" "Multiple physics engines of this type cannot be	used,
		and defining '< boundaries >'\n" "as a child tag under the '< dynamics3d >' tree will result in an initialization error.\n\n" "OPTIONAL XML CONFIGURATION\n\n" "It is possible to change the default friction used in the simulation from\n" "its initial value of 1.0 using the default_friction attribute as shown\n" "below. For debugging	purposes,
		it is also possible to provide a filename\n" "via the debug_file attribute which will cause the Bullet world to be\n" "serialized and written out to a file at the end of each step. This file can\n" "then be opened using the Bullet example browser and can provide useful\n" "insights into the stability of a simulation.\n\n" "< physics_engines >\n" " ...\n" "< dynamics3d id=\"dyn3d\"\n" " default_friction=\"1.0\"\n" " debug_file=\"dynamics3d.bullet\"/>\n" " ...\n" " </physics_engines>\n\n" "The physics engine supports a number of plugins that add features to the\n" "simulation. In the example	below,
		a floor plane has been added which has a\n" "height of 1 cm and the dimensions of the floor as specified by the arena\n" "node. It is possible to change the coefficient of friction of the floor\n" "using the friction attribute. This will override the default friction used\n" "by the physics engine. By	default,
		there will be no gravity in the\n" "simulation. This can be changed by adding a gravity node with a single\n" "attribute 'g' which is the downwards acceleration caused by gravity.\n" "	Finally,
		there is a magnetism plugin. This plugin applies forces and\n" "torques to bodies in the simulation that contains magnetic dipoles. The\n" " 'max_distance' attribute is an optional optimization that sets the maximum\n" "distance at which two magnetic dipoles will interact with each other. In\n" "the example	below,
		this distance has been set to 4 cm.\n\n" "< physics_engines >\n" " ...\n" "< dynamics3d id=\"dyn3d\" default_friction=\"2.0\">\n" " <floor height=\"0.01\" friction=\"0.05\"/>\n" " <gravity g=\"10\" />\n" " <magnetism max_distance=\"0.04\" />\n" " </dynamics3d>\n" " ...\n" " </physics_engines>\n\n"	,
		"Usable (multiple engines not supported)"
	)

REGISTER_PHYSICS_ENGINE() [3/3]

argos::REGISTER_PHYSICS_ENGINE	(	CPointMass3DEngine	,
		"pointmass3d"	,
		"Carlo Pinciroli "	[ilpincy @gmail.com],
		"1.0"	,
		"A 3D point-mass physics engine."	,
		"This physics engine is a 3D point-mass engine.\n\n" "REQUIRED XML CONFIGURATION\n\n" " <physics_engines>\n" " ...\n" " <pointmass3d id=\"pm3d\" />\n" " ...\n" " </physics_engines>\n\n" "The 'id' attribute is necessary and must be unique among the physics engines.\n" "If two engines share the same	id,
		initialization aborts.\n\n" "OPTIONAL XML CONFIGURATION\n\n" "By	default,
		there will -9.81 m/s gravity in the simulation. This can be\n" "changed by specifying the 'gravity' attribute:\n\n" "< physics_engines >\n" " ...\n" "< pointmass3d id=\"pm3d\" gravity=\"-9.81\"/>\n" " ...\n" " </physics_engines>\n\n" "Multiple physics engines can also be used. If multiple physics engines are	used,
		\n" "the disjoint union of the 3D volumes within the arena assigned to each engine must cover\n" "the entire arena without overlapping. If the entire arena is not	covered,
		robots can\n" "\"escape\" the configured physics engines and cause a fatal exception (this is not an\n" "issue when a single physics engine is used, because the engine covers the entire arena\n" "by default). To use multiple physics	engines,
		use the following syntax(all attributes\n" "are mandatory):\n\n" "< physics_engines >\n" " ...\n" "< pointmass3d id=\"pm0\">\n" " <boundaries>\n" " <top height=\"1.0\"/>\n" " <botton height=\"0.0\"/>\n" " <sides>\n" " <vertex point=\"0.0, 0.0\"/>\n" " <vertex point=\"4.0, 0.0\"/>\n" " <vertex point=\"4.0, 4.0\"/>\n" " <vertex point=\"0.0, 4.0\"/>\n" " </sides>\n" " </boundaries>\n" " </pointmass3d>\n" " <pointmass3d id=\"pm1\">\n" " ...\n" " </pointmass3d>\n" " ...\n" " </physics_engines>\n\n" "A physics engine can be defined having any number of sides >=	3,
		as long as the\n" "sides from a closed polygon in the 2D plane(vertices must be declared in the\n" "XML file in counter-clockwise order). In the above	example,
		the physics engine\n" " 'pm0' is assigned to the area within the arena with lower left coordinates(0, 0)\n" "and upper right coordinates(4, 4) and vertices are specified in counter\n" "clockwise order:LL	,
		LR	,
		UR	,
		UL.\n\n" "OPTIMIZATION HINTS\n\n" "1. A single physics engine is generally sufficient for small swarms(say<=50\n" " robots) within a reasonably small arena to obtain faster than real-time\n" " performance with optimized code. For larger swarms and/or large arenas multiple\n" " engines should be used for maximum performance.\n\n" "2. In	general,
		using the same number of ARGoS threads as physics engines gives\n" " maximum performance(1-thread per engine per CPU core).\n\n" "3. Using multiple engines in simulations with any of the following characteristics\n" " generally incurs more overhead due to thread context switching than the\n" " performance benefits from multiple engines:\n\n" " - Small swarms\n" " - Small arenas\n" " - Less available ARGoS threads than assigned physics engines\n" " - Less available CPU cores than assigned ARGoS threads\n\n" "4. A good starting strategy for physics engine boundary assignment is to assign\n" " each physics engine the same amount of area within the arena. This will be\n" " sufficient for most cases. Depending on the nature of the	simulation,
		using\n" " non-homogeneous physics engine sizes may yield increased performance. An example\n" " would be a narrow hallway between larger open areas in the arena--the hallway\n" " will likely experience increased robot density and assigning more physics\n" " engines to that area than the relatively unpopulated open areas may increase\n" " performance.\n\n"	,
		"Usable"
	)

REGISTER_QTOPENGL_ENTITY_OPERATION() [1/16]

argos::REGISTER_QTOPENGL_ENTITY_OPERATION	(	CQTOpenGLOperationDrawNormal	,
		CQTOpenGLOperationDrawBoxNormal	,
		CBoxEntity
	)

REGISTER_QTOPENGL_ENTITY_OPERATION() [2/16]

argos::REGISTER_QTOPENGL_ENTITY_OPERATION	(	CQTOpenGLOperationDrawNormal	,
		CQTOpenGLOperationDrawCylinderNormal	,
		CCylinderEntity
	)

REGISTER_QTOPENGL_ENTITY_OPERATION() [3/16]

argos::REGISTER_QTOPENGL_ENTITY_OPERATION	(	CQTOpenGLOperationDrawNormal	,
		CQTOpenGLOperationDrawEPuckNormal	,
		CEPuckEntity
	)

REGISTER_QTOPENGL_ENTITY_OPERATION() [4/16]

argos::REGISTER_QTOPENGL_ENTITY_OPERATION	(	CQTOpenGLOperationDrawNormal	,
		CQTOpenGLOperationDrawEyeBotNormal	,
		CEyeBotEntity
	)

REGISTER_QTOPENGL_ENTITY_OPERATION() [5/16]

argos::REGISTER_QTOPENGL_ENTITY_OPERATION	(	CQTOpenGLOperationDrawNormal	,
		CQTOpenGLOperationDrawFootBotNormal	,
		CFootBotEntity
	)

REGISTER_QTOPENGL_ENTITY_OPERATION() [6/16]

argos::REGISTER_QTOPENGL_ENTITY_OPERATION	(	CQTOpenGLOperationDrawNormal	,
		CQTOpenGLOperationDrawLightNormal	,
		CLightEntity
	)

REGISTER_QTOPENGL_ENTITY_OPERATION() [7/16]

argos::REGISTER_QTOPENGL_ENTITY_OPERATION	(	CQTOpenGLOperationDrawNormal	,
		CQTOpenGLOperationDrawMiniQuadrotorNormal	,
		CMiniQuadrotorEntity
	)

REGISTER_QTOPENGL_ENTITY_OPERATION() [8/16]

argos::REGISTER_QTOPENGL_ENTITY_OPERATION	(	CQTOpenGLOperationDrawNormal	,
		CQTOpenGLOperationDrawSpiriNormal	,
		CSpiriEntity
	)

REGISTER_QTOPENGL_ENTITY_OPERATION() [9/16]

argos::REGISTER_QTOPENGL_ENTITY_OPERATION	(	CQTOpenGLOperationDrawSelected	,
		CQTOpenGLOperationDrawBoxSelected	,
		CBoxEntity
	)

REGISTER_QTOPENGL_ENTITY_OPERATION() [10/16]

argos::REGISTER_QTOPENGL_ENTITY_OPERATION	(	CQTOpenGLOperationDrawSelected	,
		CQTOpenGLOperationDrawCylinderSelected	,
		CCylinderEntity
	)

REGISTER_QTOPENGL_ENTITY_OPERATION() [11/16]

argos::REGISTER_QTOPENGL_ENTITY_OPERATION	(	CQTOpenGLOperationDrawSelected	,
		CQTOpenGLOperationDrawEPuckSelected	,
		CEPuckEntity
	)

REGISTER_QTOPENGL_ENTITY_OPERATION() [12/16]

argos::REGISTER_QTOPENGL_ENTITY_OPERATION	(	CQTOpenGLOperationDrawSelected	,
		CQTOpenGLOperationDrawEyeBotSelected	,
		CEyeBotEntity
	)

REGISTER_QTOPENGL_ENTITY_OPERATION() [13/16]

argos::REGISTER_QTOPENGL_ENTITY_OPERATION	(	CQTOpenGLOperationDrawSelected	,
		CQTOpenGLOperationDrawFootBotSelected	,
		CFootBotEntity
	)

REGISTER_QTOPENGL_ENTITY_OPERATION() [14/16]

argos::REGISTER_QTOPENGL_ENTITY_OPERATION	(	CQTOpenGLOperationDrawSelected	,
		CQTOpenGLOperationDrawLightSelected	,
		CLightEntity
	)

REGISTER_QTOPENGL_ENTITY_OPERATION() [15/16]

argos::REGISTER_QTOPENGL_ENTITY_OPERATION	(	CQTOpenGLOperationDrawSelected	,
		CQTOpenGLOperationDrawMiniQuadrotorSelected	,
		CMiniQuadrotorEntity
	)

REGISTER_QTOPENGL_ENTITY_OPERATION() [16/16]

argos::REGISTER_QTOPENGL_ENTITY_OPERATION	(	CQTOpenGLOperationDrawSelected	,
		CQTOpenGLOperationDrawSpiriSelected	,
		CSpiriEntity
	)

REGISTER_SENSOR() [1/21]

argos::REGISTER_SENSOR	(	CBatteryDefaultSensor	,
		"battery"	,
		"default"	,
		"Adhavan Jayabalan "	[jadhu94 @gmail.com],
		"1.0"	,
		"A generic battery level sensor."	,
		"This sensor returns the current battery level of a robot. This sensor\n" "can be used with any	robot,
		since it accesses only the body component. In\n" "	controllers,
		you must include the ci_battery_sensor.h header.\n\n" "This sensor is enabled by default.\n\n" "REQUIRED XML CONFIGURATION\n\n" "< controllers >\n" " ...\n" "< my_controller ... >\n" " ...\n" "< sensors >\n" " ...\n" "< battery implementation=\"default\" />\n" " ...\n" " </sensors>\n" " ...\n" " </my_controller>\n" " ...\n" " </controllers>\n\n" "OPTIONAL XML CONFIGURATION\n\n" "It is possible to add uniform noise to the	sensor,
		thus matching the\n" "characteristics of a real robot better. You can add noise through the\n" "attribute 'noise_range' as follows:\n\n" "< controllers >\n" " ...\n" "< my_controller ... >\n" " ...\n" "< sensors >\n" " ...\n" "< battery implementation=\"default\"\n" " noise_range=\"-0.3:0.4\" />\n" " ...\n" " </sensors>\n" " ...\n" " </my_controller>\n" " ...\n" " </controllers>\n\n"	,
		"Usable"
	)

REGISTER_SENSOR() [2/21]

argos::REGISTER_SENSOR	(	CCameraDefaultSensor	,
		"cameras"	,
		"default"	,
		"Michael Allwright "	[allsey87 @gmail.com],
		"1.0"	,
		"A generic multi-camera sensor capable of running various algorithms"	,
		"The generic multi-camera sensor can be attached to any composable entity in\n" "ARGoS that contains an embodied entity with at least one anchor. The sensor\n" "can be initialized with a number of cameras each running different algorithms\n" "for detecting different objects in the simulation. The sensor is designed so\n" "that algorithms can project a feature in the simulation on to the virtual\n" "sensor and store its 2D pixel coordinates as a reading. The implementation\n" "of algorithms that behave	differently,
		however	,
		is also possible.\n\n" "This sensor is disabled by	default,
		and must be enabled before it can be\n" "used.\n\n" "REQUIRED XML CONFIGURATION\n\n" "< controllers >\n" " ...\n" "< my_controller ... >\n" " ...\n" "< sensors >\n" " ...\n" "< cameras implementation=\"default\"/>\n" " ...\n" " </sensors>\n" " ...\n" " </my_controller>\n" " ...\n" " </controllers>\n\n" "OPTIONAL XML CONFIGURATION\n\n" "It is possible to draw the frustum of each camera sensor in the OpenGL\n" "visualization. This can be useful for sensor debugging but also to understand\n" "what's wrong in your controller. To turn this functionality	on,
		add the\n" "attribute \"show_frustum\" as follows:\n\n" " <controllers>\n" " ...\n" " <my_controller ...>\n" " ...\n" " <sensors>\n" " ...\n" " <cameras implementation=\"default\" show_frustum=\"true\"/>\n" " ...\n" " </sensors>\n" " ...\n" " </my_controller>\n" " ...\n" " </controllers>\n\n" "To add a camera to the	plugin,
		create a camera node as shown in the following\n" "example. A camera is defined by its	rangehow close and how far the camera\n" "can see,
		its anchor and its position and orientation offsets from that\n" "that	anchor,
		its focal length and principal	pointwhich define the\n" "projection matrix,
		and its resolution.\n\n" "< controllers >\n" " ...\n" "< my_controller ... >\n" " ...\n" "< sensors >\n" " ...\n" "< cameras implementation=\"default\" show_frustum=\"true\">\n" " <camera id=\"camera0\" range=\"0.025:0.25\" anchor=\"origin\"\n" " position=\"0.1,0,0.1\" orientation=\"90,-90,0\"\n" " focal_length=\"800,800\" principal_point=\"320,240\"\n" " resolution=\"640,480\"/>\n" " </cameras>\n" " ...\n" " </sensors>\n" " ...\n" " </my_controller>\n" " ...\n" " </controllers>\n\n" "To run an algorithm on the camera	sensor,
		simply add the algorithm as a node\n" "under the camera node. At the time of	writing,
		three algorithms are available\n" "by default:led_detector	,
		directional_led_detector	,
		and tag_detector. Each of\n" "algorithms requires a medium attribute that specifies the medium where the\n" "target entities are indexed. By setting the show_rays attribute to	true,
		you\n" "can see whether or not a target was partially occluded by another object in\n" "the simulation. For example:\n\n" "< controllers >\n" " ...\n" "< my_controller ... >\n" " ...\n" "< sensors >\n" " ...\n" "< cameras implementation=\"default\" show_frustum=\"true\">\n" " <camera id=\"camera0\" range=\"0.025:0.25\" anchor=\"origin\"\n" " position=\"0.1,0,0.1\" orientation=\"90,-90,0\"\n" " focal_length=\"800,800\" principal_point=\"320,240\"\n" " resolution=\"640,480\">\n" " <led_detector medium=\"leds\" show_rays=\"true\"/>\n" " </camera>\n" " </cameras>\n" " ...\n" " </sensors>\n" " ...\n" " </my_controller>\n" " ...\n" " </controllers>\n"	,
		"Usable"
	)

REGISTER_SENSOR() [3/21]

argos::REGISTER_SENSOR	(	CColoredBlobOmnidirectionalCameraRotZOnlySensor	,
		"colored_blob_omnidirectional_camera"	,
		"rot_z_only"	,
		"Carlo Pinciroli "	[ilpincy @gmail.com],
		"1.0"	,
		"A generic omnidirectional camera sensor to detect colored blobs."	,
		"This sensor accesses an omnidirectional camera that detects colored blobs. The\n" "sensor returns a list of	blobs,
		each defined by a color and a position with\n" "respect to the robot reference point on the ground. In	controllers,
		you must\n" "include the ci_colored_blob_omnidirectional_camera_sensor.h header.\n\n" "This sensor is disabled by	default,
		and must be enabled before it can be\n" "used.\n\n" "REQUIRED XML CONFIGURATION\n\n" "< controllers >\n" " ...\n" "< my_controller ... >\n" " ...\n" "< sensors >\n" " ...\n" "< colored_blob_omnidirectional_camera implementation=\"rot_z_only\"\n" " medium=\"leds\" />\n" " ...\n" " </sensors>\n" " ...\n" " </my_controller>\n" " ...\n" " </controllers>\n\n" "The 'medium' attribute must be set to the id of the leds medium declared in the\n" "<media> section.\n\n" "OPTIONAL XML CONFIGURATION\n\n" "It is possible to draw the rays shot by the camera 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" " <colored_blob_omnidirectional_camera implementation=\"rot_z_only\"\n" " medium=\"leds\" />\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 blobs, thus matching the\n" "characteristics of a real robot better. This can be done with the attribute\n" "\"noise_std_dev\".\n\n" "  <controllers>\n" "    ...\n" "    <my_controller ...>\n" "      ...\n" "      <sensors>\n" "        ...\n" "        <colored_blob_omnidirectional_camera implementation=\"rot_z_only\"\n" "                                             medium=\"leds\" />\n" "                                             noise_std_dev=\"0.1\" />\n" "        ...\n" "      </sensors>\n" "      ...\n" "    </my_controller>\n" "    ...\n" "  </controllers>\n\n" "OPTIMIZATION HINTS\n\n" "1. For small swarms, enabling the sensor (and therefore causing ARGoS to\n" "   update its readings each timestep) unconditionally does not impact performance too\n" "   much. For large swarms, it can impact performance, and selectively\n" "   enabling/disabling the sensor according to when each individual robot needs it\n" "   (e.g., only when it is looking for an LED equipped entity) can increase performance\n" "   by only requiring ARGoS to update the readings on timesteps they will be used.\n",
		"Usable"
	)

REGISTER_SENSOR() [4/21]

argos::REGISTER_SENSOR	(	CColoredBlobPerspectiveCameraDefaultSensor	,
		"colored_blob_perspective_camera"	,
		"default"	,
		"Carlo Pinciroli "	[ilpincy @gmail.com],
		"1.0"	,
		"A generic perspective camera sensor to detect colored blobs."	,
		"This sensor accesses an perspective camera that detects colored blobs. The\n" "sensor returns a list of	blobs,
		each defined by a color and a position with\n" "respect to the robot reference point on the ground. In	controllers,
		you must\n" "include the ci_colored_blob_perspective_camera_sensor.h header.\n\n" "This sensor is disabled by	default,
		and must be enabled before it can be\n" "used.\n\n" "REQUIRED XML CONFIGURATION\n\n" "< controllers >\n" " ...\n" "< my_controller ... >\n" " ...\n" "< sensors >\n" " ...\n" "< colored_blob_perspective_camera implementation=\"default\"\n" " medium=\"leds\" />\n" " ...\n" " </sensors>\n" " ...\n" " </my_controller>\n" " ...\n" " </controllers>\n\n" "The 'medium' attribute must be set to the id of the leds medium declared in the\n" "<media> section.\n\n" "OPTIONAL XML CONFIGURATION\n\n" "It is possible to draw the rays shot by the camera 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" " <colored_blob_perspective_camera implementation=\"default\"\n" " medium=\"leds\" />\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 blobs, thus matching the\n" "characteristics of a real robot better. This can be done with the attribute\n" "\"noise_std_dev\".\n\n" "  <controllers>\n" "    ...\n" "    <my_controller ...>\n" "      ...\n" "      <sensors>\n" "        ...\n" "        <colored_blob_perspective_camera implementation=\"default\"\n" "                                         medium=\"leds\" />\n" "                                         noise_std_dev=\"0.1\" />\n" "        ...\n" "      </sensors>\n" "      ...\n" "    </my_controller>\n" "    ...\n" "  </controllers>\n",
		"Usable"
	)

REGISTER_SENSOR() [5/21]

argos::REGISTER_SENSOR	(	CDifferentialSteeringDefaultSensor	,
		"differential_steering"	,
		"default"	,
		"Carlo Pinciroli "	[ilpincy @gmail.com],
		"1.0"	,
		"A generic differential steering sensor."	,
		"This sensor returns the current position and orientation of a robot. This sensor\n" "can be used with any	robot,
		since it accesses only the body component. In\n" "	controllers,
		you must include the ci_differential_steering_sensor.h header.\n\n" "This sensor is enabled by default.\n\n" "REQUIRED XML CONFIGURATION\n\n" "< controllers >\n" " ...\n" "< my_controller ... >\n" " ...\n" "< sensors >\n" " ...\n" "< differential_steering implementation=\"default\" />\n" " ...\n" " </sensors>\n" " ...\n" " </my_controller>\n" " ...\n" " </controllers>\n\n" "OPTIONAL XML CONFIGURATION\n\n" "It is possible to add uniform noise to the	sensor,
		thus matching the\n" "characteristics of a real robot better. You can add noise through the\n" "attributes 'vel_noise_range' and 'dist_noise_range'.\n" "Attribute 'vel_noise_range' regulates the noise range on the velocity returned\n" "by the sensor. Attribute 'dist_noise_range' sets the noise range on the\n" "distance covered by the wheels.\n\n" "< controllers >\n" " ...\n" "< my_controller ... >\n" " ...\n" "< sensors >\n" " ...\n" "< differential_steering implementation=\"default\"\n" " vel_noise_range=\"-0.1:0.2\"\n" " dist_noise_range=\"-10.5:13.7\" />\n" " ...\n" " </sensors>\n" " ...\n" " </my_controller>\n" " ...\n" " </controllers>\n\n"	,
		"Usable"
	)

REGISTER_SENSOR() [6/21]

argos::REGISTER_SENSOR	(	CEPuckProximityDefaultSensor	,
		"epuck_proximity"	,
		"default"	,
		"Danesh Tarapore "	[daneshtarapore @gmail.com],
		"1.0"	,
		"The E-Puck proximity sensor."	,
		"This sensor accesses the epuck proximity sensor. For a complete description\n" "of its	usage,
		refer to the ci_epuck_proximity_sensor.h interface. For the XML\n" "	configuration,
		refer to the default proximity sensor.\n"	,
		"Usable"
	)

REGISTER_SENSOR() [7/21]

argos::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 and is added to the calculated\n" "reading. The final sensor reading is always normalized in the 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"	[-1, 1][0-1],
		"Usable"
	)

REGISTER_SENSOR() [8/21]

argos::REGISTER_SENSOR	(	CEyeBotProximityDefaultSensor	,
		"eyebot_proximity"	,
		"default"	,
		"Carlo Pinciroli "	[ilpincy @gmail.com],
		"1.0"	,
		"The eye-bot proximity sensor."	,
		"This sensor accesses the eye-bot proximity sensor. For a complete description\n" "of its	usage,
		refer to the ci_eyebot_proximity_sensor.h interface. For the XML\n" "	configuration,
		refer to the default proximity sensor.\n"	,
		"Usable"
	)

REGISTER_SENSOR() [9/21]

argos::REGISTER_SENSOR	(	CFootBotBaseGroundRotZOnlySensor	,
		"footbot_base_ground"	,
		"rot_z_only"	,
		"Carlo Pinciroli "	[ilpincy @gmail.com],
		"1.0"	,
		"The foot-bot base ground sensor."	,
		"This sensor accesses the foot-bot base ground sensor. For a complete description\n" "of its	usage,
		refer to the ci_footbot_base_ground_sensor.h interface. For the XML\n" "	configuration,
		refer to the default ground sensor.\n"	,
		"Usable"
	)

REGISTER_SENSOR() [10/21]

argos::REGISTER_SENSOR	(	CFootBotDistanceScannerRotZOnlySensor	,
		"footbot_distance_scanner"	,
		"rot_z_only"	,
		"Carlo Pinciroli "	[ilpincy @gmail.com],
		"1.0"	,
		"The foot-bot distance scanner sensor (optimized for 2D)."	,
		"This sensor accesses the foot-bot distance scanner sensor. For a complete\n" "description of its	usage,
		refer to the common interface.\n" "In this	implementation,
		the readings are calculated under the assumption that\n" "the foot-bot is always parallel to the XY	plane,
		i.	e.,
		it rotates only around\n" "the Z axis. This implementation is faster than a 3D one and should be used\n" "only when the assumption about the foot-bot rotation holds.\n\n" "This sensor is enabled by default.\n\n" "REQUIRED XML CONFIGURATION\n\n" "< controllers >\n" " ...\n" "< my_controller ... >\n" " ...\n" "< sensors >\n" " ...\n" "< footbot_distance_scanner 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 distance scanner 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 = \"true\"' in the\n" "XML as in this example:\n\n" "  <controllers>\n" "    ...\n" "    <my_controller ...>\n" "      ...\n" "      <sensors>\n" "        ...\n" "        <footbot_distance_scanner implementation=\"rot_z_only\"\n" "                                  show_rays=\"true\" />\n" "        ...\n" "      </sensors>\n" "      ...\n" "    </my_controller>\n" "    ...\n" "  </controllers>\n",
		"Usable"
	)

REGISTER_SENSOR() [11/21]

argos::REGISTER_SENSOR	(	CFootBotLightRotZOnlySensor	,
		"footbot_light"	,
		"rot_z_only"	,
		"Carlo Pinciroli "	[ilpincy @gmail.com],
		"1.0"	,
		"The foot-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" "< footbot_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" " <footbot_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 and is added to the calculated\n" "reading. The final sensor reading is always normalized in the range.\n\n" "< controllers >\n" " ...\n" "< my_controller ... >\n" " ...\n" "< sensors >\n" " ...\n" "< footbot_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"	[-1, 1][0-1],
		"Usable"
	)

REGISTER_SENSOR() [12/21]

argos::REGISTER_SENSOR	(	CFootBotMotorGroundRotZOnlySensor	,
		"footbot_motor_ground"	,
		"rot_z_only"	,
		"Carlo Pinciroli "	[ilpincy @gmail.com],
		"1.0"	,
		"The foot-bot motor ground sensor."	,
		"This sensor accesses the foot-bot motor ground sensor. For a complete description\n" "of its	usage,
		refer to the ci_footbot_motor_ground_sensor.h interface. For the XML\n" "	configuration,
		refer to the default ground sensor.\n"	,
		"Usable"
	)

REGISTER_SENSOR() [13/21]

argos::REGISTER_SENSOR	(	CFootBotProximityDefaultSensor	,
		"footbot_proximity"	,
		"default"	,
		"Carlo Pinciroli "	[ilpincy @gmail.com],
		"1.0"	,
		"The foot-bot proximity sensor."	,
		"This sensor accesses the foot-bot proximity sensor. For a complete description\n" "of its	usage,
		refer to the ci_footbot_proximity_sensor.h interface. For the XML\n" "	configuration,
		refer to the default proximity sensor.\n"	,
		"Usable"
	)

REGISTER_SENSOR() [14/21]

argos::REGISTER_SENSOR	(	CFootBotTurretEncoderDefaultSensor	,
		"footbot_turret_encoder"	,
		"default"	,
		"Carlo Pinciroli "	[ilpincy @gmail.com],
		"1.0"	,
		"The foot-bot turret encoder sensor."	,
		"This sensor accesses the foot-bot turret encoder. For a complete\n" "description of its	usage,
		refer to the ci_footbot_turret_encoder_sensor\n" "file.\n\n" "This sensor is enabled by default.\n\n" "REQUIRED XML CONFIGURATION\n\n" "< controllers >\n" " ...\n" "< my_controller ... >\n" " ...\n" "< sensors >\n" " ...\n" "< footbot_turret_encoder implementation=\"default\" />\n" " ...\n" " </sensors>\n" " ...\n" " </my_controller>\n" " ...\n" " </controllers>\n\n" "OPTIONAL XML CONFIGURATION\n\n" "None for the time being.\n"	,
		"Usable"
	)

REGISTER_SENSOR() [15/21]

argos::REGISTER_SENSOR	(	CGroundRotZOnlySensor	,
		"ground"	,
		"rot_z_only"	,
		"Carlo Pinciroli "	[ilpincy @gmail.com],
		"1.0"	,
		"A generic ground sensor (optimized for 2D)."	,
		"This sensor accesses a set of ground sensors. The sensors all return a value\n" "between 0 and	1,
		where 0 means black and 1 means white. Depending on the type\n" "of ground	sensor,
		readings can either take 0 or 1 as value(bw sensors) or a\n" "value in between(grayscale sensors). In	controllers,
		you must include the\n" "ci_ground_sensor.h header.\n\n" "This sensor is enabled by default.\n\n" "REQUIRED XML CONFIGURATION\n\n" "< controllers >\n" " ...\n" "< my_controller ... >\n" " ...\n" "< sensors >\n" " ...\n" "< ground 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 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 and is added to the calculated\n" "reading. The final sensor reading is always normalized in the range.\n\n" "< controllers >\n" " ...\n" "< my_controller ... >\n" " ...\n" "< sensors >\n" " ...\n" "< ground implementation=\"rot_z_only\"\n" " noise_level=\"0.1\" />\n" " ...\n" " </sensors>\n" " ...\n" " </my_controller>\n" " ...\n" " </controllers>\n\n"	[-1, 1][0-1],
		"Usable"
	)

REGISTER_SENSOR() [16/21]

argos::REGISTER_SENSOR	(	CLightDefaultSensor	,
		"light"	,
		"default"	,
		"Carlo Pinciroli "	[ilpincy @gmail.com],
		"1.0"	,
		"A generic light sensor."	,
		"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" "This sensor is enabled by default.\n\n" "REQUIRED XML CONFIGURATION\n\n" "< controllers >\n" " ...\n" "< my_controller ... >\n" " ...\n" "< sensors >\n" " ...\n" "< light implementation=\"default\" />\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" " <light implementation=\"default\"\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 and is added to the calculated\n" "reading. The final sensor reading is always normalized in the range.\n\n" "< controllers >\n" " ...\n" "< my_controller ... >\n" " ...\n" "< sensors >\n" " ...\n" "< light implementation=\"default\"\n" " noise_level=\"0.1\" />\n" " ...\n" " </sensors>\n" " ...\n" " </my_controller>\n" " ...\n" " </controllers>\n\n" "OPTIMIZATION HINTS\n\n" "1. For small	swarms[-1, 1][0-1],
		enabling the light sensor(and therefore causing ARGoS to\n" " update its readings each timestep) unconditionally does not impact performance too\n" " much. For large	swarms,
		it can impact	performance,
		and selectively\n" " enabling/disabling the light sensor according to when each individual robot needs it\n" "(e.g., only when it is returning to the nest from foraging) can increase performance\n" " by only requiring ARGoS to update the readings for a robot on the timesteps will be\n" " used.\n"	,
		"Usable"
	)

REGISTER_SENSOR() [17/21]

argos::REGISTER_SENSOR	(	CPositioningDefaultSensor	,
		"positioning"	,
		"default"	,
		"Carlo Pinciroli "	[ilpincy @gmail.com],
		"1.0"	,
		"A generic positioning sensor."	,
		"This sensor returns the current position and orientation of a robot. This sensor\n" "can be used with any	robot,
		since it accesses only the body component. In\n" "	controllers,
		you must include the ci_positioning_sensor.h header.\n\n" "This sensor is enabled by default.\n\n" "REQUIRED XML CONFIGURATION\n\n" "< controllers >\n" " ...\n" "< my_controller ... >\n" " ...\n" "< sensors >\n" " ...\n" "< positioning implementation=\"default\" />\n" " ...\n" " </sensors>\n" " ...\n" " </my_controller>\n" " ...\n" " </controllers>\n\n" "OPTIONAL XML CONFIGURATION\n\n" "It is possible to add uniform noise to the	sensor,
		thus matching the\n" "characteristics of a real robot better. You can add noise through the\n" "attributes 'pos_noise_range'	,
		'angle_noise_range'	,
		and 'axis_noise_range'.\n" "Attribute 'pos_noise_range' regulates the noise range on the position returned\n" "by the sensor. Attribute 'angle_noise_range' sets the noise range on the angle\n" "(values expressed in degrees). Attribute 'axis_noise_range' sets the noise for\n" "the rotation axis. Angle and axis are used to calculate a	quaternion,
		which is\n" "the actual returned value for rotation.\n\n" "< controllers >\n" " ...\n" "< my_controller ... >\n" " ...\n" "< sensors >\n" " ...\n" "< positioning implementation=\"default\"\n" " pos_noise_range=\"-0.1:0.2\"\n" " angle_noise_range=\"-10.5:13.7\"\n" " axis_noise_range=\"-0.3:0.4\" />\n" " ...\n" " </sensors>\n" " ...\n" " </my_controller>\n" " ...\n" " </controllers>\n\n" "OPTIONAL XML CONFIGURATION\n\n" "None.\n"	,
		"Usable"
	)

REGISTER_SENSOR() [18/21]

argos::REGISTER_SENSOR	(	CPrototypeJointsDefaultSensor	,
		"joints"	,
		"default"	,
		"Michael Allwright "	[allsey87 @gmail.com],
		"1.0"	,
		"The prototype joints sensor: monitors a prototype entity's joints."	,
		"This sensor is used to monitor the joints inside a prototype entity. To monitor\n" "a	joint,
		add a joint child node to the joints node. Each child node has two\n" "required attributes.\n\n" "This sensor is enabled by default.\n\n" "REQUIRED XML CONFIGURATION\n\n" "< controllers >\n" " ...\n" "< my_controller ... >\n" " ...\n" "< sensors >\n" " ...\n" "< joints implementation=\"default\">\n" " <joint id=\"joint0\" mode=\"velocity\" />\n" " <joint id=\"joint1\" mode=\"position\" />\n" " ...\n" " </joints>\n" " ...\n" " </sensors>\n" " ...\n" " </my_controller>\n" " ...\n" " </controllers>\n\n" "The 'id' attribute specifies which joint in the prototype joint equipped entity\n" "we are interested in monitoring. The 'mode' attribute has three options:\n" "	disabled,
		position	,
		and velocity. The disabled mode is self-explanatory. The\n" "position mode measures the displacement of the joint from its initial position\n" "or orientation(depending on whether the specified joint is prismatic or\n" "revolute). The reading from the joint is reported in either meters or radians\n" "respectively. The velocity mode measures the how much the position or\n" "orientation of the joint is changing every second.\n\n" "OPTIONAL XML CONFIGURATION\n\n" "None."	,
		"Usable"
	)

REGISTER_SENSOR() [19/21]

argos::REGISTER_SENSOR	(	CProximityDefaultSensor	,
		"proximity"	,
		"default"	,
		"Carlo Pinciroli "	[ilpincy @gmail.com],
		"1.0"	,
		"A generic proximity sensor."	,
		"This sensor accesses a set of proximity sensors. The sensors all return a value\n" "between 0 and	1,
		where 0 means nothing within range and 1 means an external\n" "object is touching the sensor. Values between 0 and 1 depend on the distance of\n" "the occluding	object,
		and are calculated as	value = exp(-distance). In\n" "controllers,
		you must include the ci_proximity_sensor.h header.\n\n" "This sensor is enabled by default.\n\n" "REQUIRED XML CONFIGURATION\n\n" "< controllers >\n" " ...\n" "< my_controller ... >\n" " ...\n" "< sensors >\n" " ...\n" "< proximity implementation=\"default\" />\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 proximity 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" " <proximity implementation=\"default\"\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 and is added to the calculated\n" "reading. The final sensor reading is always normalized in the range.\n\n" "< controllers >\n" " ...\n" "< my_controller ... >\n" " ...\n" "< sensors >\n" " ...\n" "< proximity implementation=\"default\"\n" " noise_level=\"0.1\" />\n" " ...\n" " </sensors>\n" " ...\n" " </my_controller>\n" " ...\n" " </controllers>\n\n"	[-1, 1][0-1],
		"Usable"
	)

REGISTER_SENSOR() [20/21]

argos::REGISTER_SENSOR	(	CRadiosDefaultSensor	,
		"radios"	,
		"default"	,
		"Michael Allwright "	[allsey87 @gmail.com],
		"1.0"	,
		"A generic radio sensor to receive messages from nearby radios."	,
		"This radio sensor implementation allows an arbitary number of messages\n" "containing an arbitary number of bytes to be received from nearby robots. The\n" "implementation is very basic and any concepts such as	throughput,
		addressing	,
		\n" "or formatting of a message 's contents is beyond the scope of this sensor 's\n" "implementation\n\n" "This sensor is enabled by default.\n\n" "REQUIRED XML CONFIGURATION\n\n" "< controllers >\n" " ...\n" "< my_controller ... >\n" " ...\n" "< sensors >\n" " ...\n" "< radios implementation=\"default\" medium=\"radios\" />\n" " ...\n" " </sensors>\n" " ...\n" " </my_controller>\n" " ...\n" " </controllers>\n\n" "The 'medium' attribute sets the id of the radio medium declared in the <media>\n" "XML section.\n\n" "OPTIONAL XML CONFIGURATION\n\n" "None.\n"	,
		"Usable"
	)

REGISTER_SENSOR() [21/21]

argos::REGISTER_SENSOR	(	CRangeAndBearingMediumSensor	,
		"range_and_bearing"	,
		"medium"	,
		"Carlo Pinciroli "	[ilpincy @gmail.com],
		"1.0"	,
		"The range-and-bearing sensor."	,
		"This sensor allows robots to perform situated	communication,
		i.	e.,
		a form of\n" "wireless communication whereby the receiver also knows the location of the\n" "sender with respect to its own frame of reference.\n" "This implementation of the range-and-bearing sensor is associated to the\n" "range-and-bearing medium. To be able to use this	sensor,
		you must add a\n" "range-and-bearing medium to the< media > section.\n" "This sensor allows a robot to receive messages. To send	messages,
		you need the\n" "range-and-bearing actuator.\n" "To use this	sensor,
		in controllers you must include the\n" "ci_range_and_bearing_sensor.h header.\n\n" "This sensor is enabled by default.\n\n" "REQUIRED XML CONFIGURATION\n\n" "< controllers >\n" " ...\n" "< my_controller ... >\n" " ...\n" "< sensors >\n" " ...\n" "< range_and_bearing implementation=\"medium\"\n" " medium=\"rab\" />\n" " ...\n" " </sensors>\n" " ...\n" " </my_controller>\n" " ...\n" " </controllers>\n\n" "The 'medium' attribute must be set to the id of the range-and-bearing medium\n" "declared in the <media> section.\n\n" "OPTIONAL XML CONFIGURATION\n\n" "It is possible to draw the rays shot by the range-and-bearing sensor in the\n" "OpenGL visualization. This can be useful for sensor debugging but also to\n" "understand what's wrong in your controller. In	OpenGL,
		the rays are drawn in\n" "cyan when two robots are communicating.\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" " <range_and_bearing implementation=\"medium\"\n" " medium=\"rab\"\n" " show_rays=\"true\" />\n" " ...\n" " </sensors>\n" " ...\n" " </my_controller>\n" " ...\n" " </controllers>\n\n" "It is possible to add noise to the	readings,
		thus matching the characteristics\n" "of a real robot better. Noise is implemented as a random vector added to the\n" "vector joining two communicating robots. For the random	vector,
		the inclination\n" "and azimuth are chosen uniformly in the range	and[0:PI][0:2PI],
		respectively	,
		\n" "and the length is drawn from a Gaussian distribution. The standard deviation of\n" "the Gaussian distribution is expressed in meters and set by the user through\n" "the attribute 'noise_std_dev' as shown in this example:\n\n" "< controllers >\n" " ...\n" "< my_controller ... >\n" " ...\n" "< sensors >\n" " ...\n" "< range_and_bearing implementation=\"medium\"\n" " medium=\"rab\"\n" " noise_std_dev=\"0.1\" />\n" " ...\n" " </sensors>\n" " ...\n" " </my_controller>\n" " ...\n" " </controllers>\n\n" "In	addition,
		it is possible to specify the probability that a packet gets lost\n" "even though the robot should have received it(i.e., packet dropping). To set\n" "this	probability,
		use the attribute 'packet_drop_prob' as shown in the example:\n" "< controllers >\n" " ...\n" "< my_controller ... >\n" " ...\n" "< sensors >\n" " ...\n" "< range_and_bearing implementation=\"medium\"\n" " medium=\"rab\"\n" " packet_drop_prob=\"0.1\" />\n" " ...\n" " </sensors>\n" " ...\n" " </my_controller>\n" " ...\n" " </controllers>\n"	,
		"Usable"
	)

REGISTER_SPACE_OPERATION() [1/11]

argos::REGISTER_SPACE_OPERATION	(	CSpaceOperationAddEntity	,
		CSpaceOperationAddCDirectionalLEDEntity	,
		CDirectionalLEDEntity
	)

REGISTER_SPACE_OPERATION() [2/11]

argos::REGISTER_SPACE_OPERATION	(	CSpaceOperationAddEntity	,
		CSpaceOperationAddCFloorEntity	,
		CFloorEntity
	)

REGISTER_SPACE_OPERATION() [3/11]

argos::REGISTER_SPACE_OPERATION	(	CSpaceOperationAddEntity	,
		CSpaceOperationAddCLEDEntity	,
		CLEDEntity
	)

REGISTER_SPACE_OPERATION() [4/11]

argos::REGISTER_SPACE_OPERATION	(	CSpaceOperationAddEntity	,
		CSpaceOperationAddCRABEquippedEntity	,
		CRABEquippedEntity
	)

REGISTER_SPACE_OPERATION() [5/11]

argos::REGISTER_SPACE_OPERATION	(	CSpaceOperationAddEntity	,
		CSpaceOperationAddCRadioEntity	,
		CRadioEntity
	)

REGISTER_SPACE_OPERATION() [6/11]

argos::REGISTER_SPACE_OPERATION	(	CSpaceOperationAddEntity	,
		CSpaceOperationAddCTagEntity	,
		CTagEntity
	)

REGISTER_SPACE_OPERATION() [7/11]

argos::REGISTER_SPACE_OPERATION	(	CSpaceOperationRemoveEntity	,
		CSpaceOperationRemoveCDirectionalLEDEntity	,
		CDirectionalLEDEntity
	)

REGISTER_SPACE_OPERATION() [8/11]

argos::REGISTER_SPACE_OPERATION	(	CSpaceOperationRemoveEntity	,
		CSpaceOperationRemoveCLEDEntity	,
		CLEDEntity
	)

REGISTER_SPACE_OPERATION() [9/11]

argos::REGISTER_SPACE_OPERATION	(	CSpaceOperationRemoveEntity	,
		CSpaceOperationRemoveCRABEquippedEntity	,
		CRABEquippedEntity
	)

REGISTER_SPACE_OPERATION() [10/11]

argos::REGISTER_SPACE_OPERATION	(	CSpaceOperationRemoveEntity	,
		CSpaceOperationRemoveCRadioEntity	,
		CRadioEntity
	)

REGISTER_SPACE_OPERATION() [11/11]

argos::REGISTER_SPACE_OPERATION	(	CSpaceOperationRemoveEntity	,
		CSpaceOperationRemoveCTagEntity	,
		CTagEntity
	)

REGISTER_STANDARD_DYNAMICS2D_OPERATIONS_ON_ENTITY() [1/4]

argos::REGISTER_STANDARD_DYNAMICS2D_OPERATIONS_ON_ENTITY	(	CBoxEntity	,
		CDynamics2DBoxModel
	)

REGISTER_STANDARD_DYNAMICS2D_OPERATIONS_ON_ENTITY() [2/4]

argos::REGISTER_STANDARD_DYNAMICS2D_OPERATIONS_ON_ENTITY	(	CCylinderEntity	,
		CDynamics2DCylinderModel
	)

REGISTER_STANDARD_DYNAMICS2D_OPERATIONS_ON_ENTITY() [3/4]

argos::REGISTER_STANDARD_DYNAMICS2D_OPERATIONS_ON_ENTITY	(	CEPuckEntity	,
		CDynamics2DEPuckModel
	)

REGISTER_STANDARD_DYNAMICS2D_OPERATIONS_ON_ENTITY() [4/4]

argos::REGISTER_STANDARD_DYNAMICS2D_OPERATIONS_ON_ENTITY	(	CFootBotEntity	,
		CDynamics2DFootBotModel
	)

REGISTER_STANDARD_DYNAMICS3D_OPERATIONS_ON_ENTITY() [1/4]

argos::REGISTER_STANDARD_DYNAMICS3D_OPERATIONS_ON_ENTITY	(	CBoxEntity	,
		CDynamics3DBoxModel
	)

REGISTER_STANDARD_DYNAMICS3D_OPERATIONS_ON_ENTITY() [2/4]

argos::REGISTER_STANDARD_DYNAMICS3D_OPERATIONS_ON_ENTITY	(	CCylinderEntity	,
		CDynamics3DCylinderModel
	)

REGISTER_STANDARD_DYNAMICS3D_OPERATIONS_ON_ENTITY() [3/4]

argos::REGISTER_STANDARD_DYNAMICS3D_OPERATIONS_ON_ENTITY	(	CEPuckEntity	,
		CDynamics3DEPuckModel
	)

REGISTER_STANDARD_DYNAMICS3D_OPERATIONS_ON_ENTITY() [4/4]

argos::REGISTER_STANDARD_DYNAMICS3D_OPERATIONS_ON_ENTITY	(	CPrototypeEntity	,
		CDynamics3DPrototypeModel
	)

REGISTER_STANDARD_PHYSX_OPERATIONS_ON_ENTITY() [1/3]

argos::REGISTER_STANDARD_PHYSX_OPERATIONS_ON_ENTITY	(	CEPuckEntity	,
		CPhysXEPuckModel
	)

REGISTER_STANDARD_PHYSX_OPERATIONS_ON_ENTITY() [2/3]

argos::REGISTER_STANDARD_PHYSX_OPERATIONS_ON_ENTITY	(	CFootBotEntity	,
		CPhysXFootBotModel
	)

REGISTER_STANDARD_PHYSX_OPERATIONS_ON_ENTITY() [3/3]

argos::REGISTER_STANDARD_PHYSX_OPERATIONS_ON_ENTITY	(	CMiniQuadrotorEntity	,
		CPhysXMiniQuadrotorModel
	)

REGISTER_STANDARD_POINTMASS3D_OPERATIONS_ON_ENTITY() [1/5]

argos::REGISTER_STANDARD_POINTMASS3D_OPERATIONS_ON_ENTITY	(	CBoxEntity	,
		CPointMass3DBoxModel
	)

REGISTER_STANDARD_POINTMASS3D_OPERATIONS_ON_ENTITY() [2/5]

argos::REGISTER_STANDARD_POINTMASS3D_OPERATIONS_ON_ENTITY	(	CCylinderEntity	,
		CPointMass3DCylinderModel
	)

REGISTER_STANDARD_POINTMASS3D_OPERATIONS_ON_ENTITY() [3/5]

argos::REGISTER_STANDARD_POINTMASS3D_OPERATIONS_ON_ENTITY	(	CEyeBotEntity	,
		CPointMass3DEyeBotModel
	)

REGISTER_STANDARD_POINTMASS3D_OPERATIONS_ON_ENTITY() [4/5]

argos::REGISTER_STANDARD_POINTMASS3D_OPERATIONS_ON_ENTITY	(	CFootBotEntity	,
		CPointMass3DFootBotModel
	)

REGISTER_STANDARD_POINTMASS3D_OPERATIONS_ON_ENTITY() [5/5]

argos::REGISTER_STANDARD_POINTMASS3D_OPERATIONS_ON_ENTITY	(	CSpiriEntity	,
		CPointMass3DSpiriModel
	)

REGISTER_STANDARD_SPACE_OPERATION_REMOVE_ENTITY()

argos::REGISTER_STANDARD_SPACE_OPERATION_REMOVE_ENTITY

(

CFloorEntity

)

REGISTER_STANDARD_SPACE_OPERATIONS_ON_COMPOSABLE() [1/17]

argos::REGISTER_STANDARD_SPACE_OPERATIONS_ON_COMPOSABLE

(

CBoxEntity

)

REGISTER_STANDARD_SPACE_OPERATIONS_ON_COMPOSABLE() [2/17]

argos::REGISTER_STANDARD_SPACE_OPERATIONS_ON_COMPOSABLE

(

CComposableEntity

)

REGISTER_STANDARD_SPACE_OPERATIONS_ON_COMPOSABLE() [3/17]

argos::REGISTER_STANDARD_SPACE_OPERATIONS_ON_COMPOSABLE

(

CCylinderEntity

)

REGISTER_STANDARD_SPACE_OPERATIONS_ON_COMPOSABLE() [4/17]

argos::REGISTER_STANDARD_SPACE_OPERATIONS_ON_COMPOSABLE

(

CDirectionalLEDEquippedEntity

)

REGISTER_STANDARD_SPACE_OPERATIONS_ON_COMPOSABLE() [5/17]

argos::REGISTER_STANDARD_SPACE_OPERATIONS_ON_COMPOSABLE

(

CEPuckEntity

)

REGISTER_STANDARD_SPACE_OPERATIONS_ON_COMPOSABLE() [6/17]

argos::REGISTER_STANDARD_SPACE_OPERATIONS_ON_COMPOSABLE

(

CEyeBotEntity

)

REGISTER_STANDARD_SPACE_OPERATIONS_ON_COMPOSABLE() [7/17]

argos::REGISTER_STANDARD_SPACE_OPERATIONS_ON_COMPOSABLE

(

CFootBotEntity

)

REGISTER_STANDARD_SPACE_OPERATIONS_ON_COMPOSABLE() [8/17]

argos::REGISTER_STANDARD_SPACE_OPERATIONS_ON_COMPOSABLE

(

CLEDEquippedEntity

)

REGISTER_STANDARD_SPACE_OPERATIONS_ON_COMPOSABLE() [9/17]

argos::REGISTER_STANDARD_SPACE_OPERATIONS_ON_COMPOSABLE

(

CMagnetEquippedEntity

)

REGISTER_STANDARD_SPACE_OPERATIONS_ON_COMPOSABLE() [10/17]

argos::REGISTER_STANDARD_SPACE_OPERATIONS_ON_COMPOSABLE

(

CMiniQuadrotorEntity

)

REGISTER_STANDARD_SPACE_OPERATIONS_ON_COMPOSABLE() [11/17]

argos::REGISTER_STANDARD_SPACE_OPERATIONS_ON_COMPOSABLE

(

CPrototypeEntity

)

REGISTER_STANDARD_SPACE_OPERATIONS_ON_COMPOSABLE() [12/17]

argos::REGISTER_STANDARD_SPACE_OPERATIONS_ON_COMPOSABLE

(

CPrototypeJointEntity

)

REGISTER_STANDARD_SPACE_OPERATIONS_ON_COMPOSABLE() [13/17]

argos::REGISTER_STANDARD_SPACE_OPERATIONS_ON_COMPOSABLE

(

CPrototypeJointEquippedEntity

)

REGISTER_STANDARD_SPACE_OPERATIONS_ON_COMPOSABLE() [14/17]

argos::REGISTER_STANDARD_SPACE_OPERATIONS_ON_COMPOSABLE

(

CPrototypeLinkEquippedEntity

)

REGISTER_STANDARD_SPACE_OPERATIONS_ON_COMPOSABLE() [15/17]

argos::REGISTER_STANDARD_SPACE_OPERATIONS_ON_COMPOSABLE

(

CRadioEquippedEntity

)

REGISTER_STANDARD_SPACE_OPERATIONS_ON_COMPOSABLE() [16/17]

argos::REGISTER_STANDARD_SPACE_OPERATIONS_ON_COMPOSABLE

(

CSpiriEntity

)

REGISTER_STANDARD_SPACE_OPERATIONS_ON_COMPOSABLE() [17/17]

argos::REGISTER_STANDARD_SPACE_OPERATIONS_ON_COMPOSABLE

(

CTagEquippedEntity

)

REGISTER_STANDARD_SPACE_OPERATIONS_ON_ENTITY() [1/18]

argos::REGISTER_STANDARD_SPACE_OPERATIONS_ON_ENTITY

(

CBatteryEquippedEntity

)

REGISTER_STANDARD_SPACE_OPERATIONS_ON_ENTITY() [2/18]

argos::REGISTER_STANDARD_SPACE_OPERATIONS_ON_ENTITY

(

CEntity

)

REGISTER_STANDARD_SPACE_OPERATIONS_ON_ENTITY() [3/18]

argos::REGISTER_STANDARD_SPACE_OPERATIONS_ON_ENTITY

(

CFootBotDistanceScannerEquippedEntity

)

REGISTER_STANDARD_SPACE_OPERATIONS_ON_ENTITY() [4/18]

argos::REGISTER_STANDARD_SPACE_OPERATIONS_ON_ENTITY

(

CFootBotTurretEntity

)

REGISTER_STANDARD_SPACE_OPERATIONS_ON_ENTITY() [5/18]

argos::REGISTER_STANDARD_SPACE_OPERATIONS_ON_ENTITY

(

CGripperEquippedEntity

)

REGISTER_STANDARD_SPACE_OPERATIONS_ON_ENTITY() [6/18]

argos::REGISTER_STANDARD_SPACE_OPERATIONS_ON_ENTITY

(

CGroundSensorEquippedEntity

)

REGISTER_STANDARD_SPACE_OPERATIONS_ON_ENTITY() [7/18]

argos::REGISTER_STANDARD_SPACE_OPERATIONS_ON_ENTITY

(

CLightEntity

)

REGISTER_STANDARD_SPACE_OPERATIONS_ON_ENTITY() [8/18]

argos::REGISTER_STANDARD_SPACE_OPERATIONS_ON_ENTITY

(

CLightSensorEquippedEntity

)

REGISTER_STANDARD_SPACE_OPERATIONS_ON_ENTITY() [9/18]

argos::REGISTER_STANDARD_SPACE_OPERATIONS_ON_ENTITY

(

CMagnetEntity

)

REGISTER_STANDARD_SPACE_OPERATIONS_ON_ENTITY() [10/18]

argos::REGISTER_STANDARD_SPACE_OPERATIONS_ON_ENTITY

(

COmnidirectionalCameraEquippedEntity

)

REGISTER_STANDARD_SPACE_OPERATIONS_ON_ENTITY() [11/18]

argos::REGISTER_STANDARD_SPACE_OPERATIONS_ON_ENTITY

(

CPerspectiveCameraEquippedEntity

)

REGISTER_STANDARD_SPACE_OPERATIONS_ON_ENTITY() [12/18]

argos::REGISTER_STANDARD_SPACE_OPERATIONS_ON_ENTITY

(

CPositionalEntity

)

REGISTER_STANDARD_SPACE_OPERATIONS_ON_ENTITY() [13/18]

argos::REGISTER_STANDARD_SPACE_OPERATIONS_ON_ENTITY

(

CPrototypeLinkEntity

)

REGISTER_STANDARD_SPACE_OPERATIONS_ON_ENTITY() [14/18]

argos::REGISTER_STANDARD_SPACE_OPERATIONS_ON_ENTITY

(

CProximitySensorEquippedEntity

)

REGISTER_STANDARD_SPACE_OPERATIONS_ON_ENTITY() [15/18]

argos::REGISTER_STANDARD_SPACE_OPERATIONS_ON_ENTITY

(

CQuadRotorEntity

)

REGISTER_STANDARD_SPACE_OPERATIONS_ON_ENTITY() [16/18]

argos::REGISTER_STANDARD_SPACE_OPERATIONS_ON_ENTITY

(

CRotorEquippedEntity

)

REGISTER_STANDARD_SPACE_OPERATIONS_ON_ENTITY() [17/18]

argos::REGISTER_STANDARD_SPACE_OPERATIONS_ON_ENTITY

(

CWheeledEntity

)

REGISTER_STANDARD_SPACE_OPERATIONS_ON_ENTITY() [18/18]

argos::REGISTER_STANDARD_SPACE_OPERATIONS_ON_ENTITY

(

CWiFiEquippedEntity

)

REGISTER_VISUALIZATION()

argos::REGISTER_VISUALIZATION	(	CQTOpenGLRender	,
		"qt-opengl"	,
		"Carlo Pinciroli "	[ilpincy @gmail.com],
		"1.0"	,
		"An interactive graphical renderer based on Qt and OpenGL."	,
		"The QT-OpenGL renderer is a graphical renderer based on Qt >= 4.5 and OpenGL.\n" "It allows the user to watch and modify the simulation as it's running in an\n" "intuitive way.\n\n" "REQUIRED XML CONFIGURATION\n\n" " <visualization>\n" " <qt-opengl />\n" " </visualization>\n\n" "OPTIONAL XML CONFIGURATION\n\n" "You can auto-play the simulation at startup by specifying the 'autoplay'\n" "attribute as follows:\n\n" " <visualization>\n" " <qt-opengl autoplay=\"true\" />\n" " </visualization>\n\n" "It is also possible to set the camera parameters. There are 12 available slots\n" "in which cameras can be configured. These cameras can be selected in the user\n" "interface by pressing F1-F12 or by clicking on the corresponding camera icon.\n" "By	default,
		and if no configuration is	given,
		each of these slots defaults to a\n" "camera position calculated from the size of the arena and the arena 's center.\n" "The following example demonstrates overriding four of these camera\n" "configurations:\n\n" "< visualization >\n" "< qt-opengl >\n" "< camera >\n" "< placements >\n" "< placement index=\"0\" position=\"2,2,2\" look_at=\"1,1,1\" />\n" " <placement index=\"1\" position=\"1,0,7\" look_at=\"1,0,0\" />\n" " <placement index=\"2\" position=\"3,3,4\" look_at=\"1,6,0\" />\n" " <placement index=\"3\" position=\"2,3,2\" look_at=\"0,1,0\" />\n" " </placements>\n" " </camera>\n" " </qt-opengl>\n" " </visualization>\n\n" "The 'index' attribute specifies the camera to	override,
		with the zeroth index\n" "corresponding to the camera bound to the F1 key and so on.\n" "The 'position' attribute contains the position of the camera in the arena.\n" "The 'look_at' attribute sets the point the camera is looking at.\n" "	Sometimes,
		specifying a camera positioning with only 'position' and 'look_at'\n" "generates ambiguous	configurations,
		which ARGoS resolves in a default way after\n" "printing a warning message. To place the camera without	ambiguities,
		specify\n" "also the 'up' vector of the camera. If the camera is your	head,
		imagine this\n" "vector as an arrow that stems from the center of your head and extends upwards\n." "The 'up' vector must be perpendicular to the difference between the 'look_at'\n" "and the 'position' vectors.\n" "You can also set the focal length of the camera. For example:\n\n" "< visualization >\n" "< qt-opengl >\n" "< camera >\n" "< placements >\n" " ...\n" "< placement index=\"4\"\n" " position=\"4,1,4\"\n" " look_at=\"2,1,0\"\n" " lens_focal_length=\"50\" />\n" " ...\n" " <placements>\n" " </camera>\n" " </qt-opengl>\n" " </visualization>\n\n" "The 'lens_focal_length' attribute controls the focal length of the lens of the\n" "simulated camera. The value is in millimeters and defaults to 20	mm,
		if it is\n" "not set from the XML.\n" "You can also configure the camera to switch placement automatically according\n" "to a timeline and even interpolate between different placements as shown below:\n" "< visualization >\n" "< qt-opengl >\n" "< camera >\n" "< placements >\n" " ...\n" "< placement index=\"0\" ... />\n" " <placement index=\"1\" ... />\n" " <placement index=\"2\" ... />\n" " ...\n" " </placements>\n" " <timeline loop=\"400\">\n" " <keyframe placement=\"0\" step=\"0\" />\n" " <interpolate />\n" " <keyframe placement=\"1\" step=\"100\" />\n" " <keyframe placement=\"2\" step=\"200\" />\n" " <keyframe placement=\"1\" step=\"300\" />\n" " <interpolate />\n" " </timeline>\n" " </camera>\n" " </qt-opengl>\n" " </visualization>\n\n" "This feature is enabled by adding a <timeline> node which consists of\n" "<keyframe> nodes. These keyframe nodes indicate the step number on which a\n" "given camera placement will be used. It is possible to interpolate between two\n" "keyframes by adding a <interpolate> node between them. The keyframes must be\n" "specified in order. The timeline can be set to loop by setting the loop\n" "attribute on the timeline node to the value at which the timeline should start\n" "over from the beginning.\n" "This visualization also allows for user customization. In a similar fashion to\n" "the loop	functions,
		you can set a plug-in that derives from the\n" "CQTOpenGLUserFunctions class. To load it in the	system,
		follow this example:\n\n" "< visualization >\n" "< qt-opengl >\n" "< user_functions library=\"/path/to/libmyuserfunctions.so\"\n" " label=\"my_user_functions\" />\n" " </qt-opengl>\n" " </visualization>\n\n" "The 'library' attribute points to the library where the user functions are\n" "stored. This library can be the same as the loop	functions,
		or a new one.\n" "There is no limitation to where the code is to be found.\n" "The 'label' attribute identifies the user function class to use. In this	way,
		\n" "in a single library you can have multiple user function	implementations,
		if\n" "you wish.\n" "You can also grab frames and store them into image	files,
		for example to create\n" "videos in a fast way. This can be done from within the ARGoS window and when\n" "running ARGoS without visualizations(headless). To do it from within the ARGoS\n" "	window,
		you just need to press the red capture button and frame grabbing will be\n" "on.\n" "You can also grab frames when running without visualizations by running ARGoS\n" "under Xvfb to give it a virtual framebuffer to render into. The command\n\n" " xvfb-run -s \"-screen 0 1600x1200x24\" argos3 -c example.argos\n\n" "will run spawn a new Xvfb server with a virtual window size of	1600x1200,
		8-bit\n" "color per channel and run ARGoS under it(ARGoS can also be made to attach to an\n" "existing Xvfb server via the DISPLAY environment variable). Refer to the\n" "documentation on Xvfb for the precise meaning of the arguments.\n" "By	default,
		the frames are named 'frame_NNNNN.png' and are stored in the current\n" "	directory,
		i.e. the directory where you run the 'argos' command. If you want to\n" "override these	defaults,
		you can add the optional 'frame_grabbing' section as\n" "follows:\n\n" "< visualization >\n" "< qt-opengl >\n" "< frame_grabbing directory=\"frames\"\n" " base_name=\"myframe_\"\n" " format=\"png\"\n" " quality=\"100\"\n" " headless_grabbing=\"false\"\n" " headless_frame_size=\"1600x1200\"\n" " headless_frame_rate=\"1\"/>\n" " </qt-opengl>\n" " </visualization>\n\n" "All the attributes in this section are optional. If you don't specify one of\n" "	them,
		the default is taken.\n" "The 'directory' attribute stores the directory where the frames are saved. If\n" "the directory does not	exist,
		a fatal error occurs. The directory must exist\n" "and be writable. Both absolute and relative paths are allowed. The default\n" "value is '.'\n" "The 'base_name' attribute is the string to prepend to the file name. After this\n" "	string,
		the frame number(padded to 5 digits) is added. The default value is\n" " 'frame_'	,
		so a typical resulting name is 'frame_00165'.\n" "The 'format' attribute specifies the format. The default value is 'png' but you\n" "can put any format supported by Qt >=4.5. Refer to the Qt documentation for the\n" "complete list of supported formats.\n" "The 'quality' attribute dictates the quality of the image. Its value is in the\n" "range where 0 means maximum compression and minimum	quality[0:100],
		and 100\n" "means maximum quality and no compression at all. The default value is '-1'	,
		\n" "which means to use Qt 's default quality. For	videos,
		it 's best to use 100 to\n" "avoid artifacts due to compression. For a normal	screenshot,
		the default is the\n" "safest choice.\n" "The 'headless_grabbing' attribute defaults to 'false'.\n" "The 'headless_frame_size' attribute is the size of the main QTWidget in	ARGoS,
		\n" " *not *the size of the converted frames(actual images will be somewhat smaller).\n" "The 'headless_frame_rate' attribute specifes the frame skip rate(i.e. grab\n" "every n-th frame). The default value is '1'.\n"	,
		"Usable"
	)

RemoveConstraintBetweenGripperAndGrippable()

void argos::RemoveConstraintBetweenGripperAndGrippable	(	cpSpace *	pt_space,
		void *	p_obj,
		void *	p_data
	)

Definition at line 212 of file dynamics2d_gripping.cpp.

Replace()

void argos::Replace	(	std::string &	str_buffer,
		const std::string &	str_original,
		const std::string &	str_new
	)

Searches into str_buffer for occurrences of str_original and substitutes them with str_new.

Parameters

str_buffer	the string to modify.
str_original	the string to search for.
str_new	the substitute string.

Definition at line 79 of file string_utilities.cpp.

reset()

std::ostream& argos::reset ( std::ostream &  c_os )

inline

Resets the text to the default settings.

The default settings are white text on black background.

Definition at line 128 of file argos_colored_text.h.

Round()

SInt32 argos::Round ( Real  f_value )

inline

Rounds the passed floating-point value to the closest integer.

If the passed value is >0, Floor() is called. Otherwise, Ceil() is called.

Returns

the closest integer.

Definition at line 162 of file general.h.

RoundClosestToZero()

SInt32 argos::RoundClosestToZero ( Real  f_value )

inline

Rounds the passed floating-point value to the integer closest to zero.

If the passed value is >0, Floor() is called. Otherwise, Ceil() is called.

Returns

the integer closest to zero.

Definition at line 172 of file general.h.

SetNodeAttribute() [1/4]

void argos::SetNodeAttribute ( TConfigurationNode &  t_node, const std::string &  str_attribute, const bool  b_value  )

inline

Sets the value of the wanted node's attribute.

This function is an overloaded version of the templetized SetNodeAttribute() for boolean values.

Parameters

t_node	the node
str_attribute	the name of the wanted attribute
b_value	the value to set

See also

SetNodeAttribute()

Definition at line 451 of file argos_configuration.h.

SetNodeAttribute() [2/4]

void argos::SetNodeAttribute ( TConfigurationNode &  t_node, const std::string &  str_attribute, const SInt8  n_value  )

inline

Sets the value of the wanted node's attribute.

This function is an overloaded version of the templetized SetNodeAttribute() for SInt8 values.

Parameters

t_node	the node
str_attribute	the name of the wanted attribute
n_value	the value to set

See also

SetNodeAttribute()

Definition at line 473 of file argos_configuration.h.

SetNodeAttribute() [3/4]

template<typename T >

void argos::SetNodeAttribute	(	TConfigurationNode &	t_node,
		const std::string &	str_attribute,
		const T &	t_value
	)

Sets the value of the wanted node's attribute.

If the attribute does not exist, it is created.

Parameters

t_node	the node
str_attribute	the name of the wanted attribute
t_value	the value to set

Definition at line 434 of file argos_configuration.h.

SetNodeAttribute() [4/4]

void argos::SetNodeAttribute ( TConfigurationNode &  t_node, const std::string &  str_attribute, const UInt8  un_value  )

inline

Sets the value of the wanted node's attribute.

This function is an overloaded version of the templetized SetNodeAttribute() for UInt8 values.

Parameters

t_node	the node
str_attribute	the name of the wanted attribute
un_value	the value to set

See also

SetNodeAttribute()

Definition at line 490 of file argos_configuration.h.

Sign()

template<typename T >

SInt32 argos::Sign

(

const T &

t_v

)

Returns the sign of the value of the passed argument.

Returns

-1 if the value is negative, +1 if it is positive, or 0 if the value is 0.

Definition at line 115 of file general.h.

Sin()

Real argos::Sin ( const CRadians &  c_radians )

inline

Computes the sine of the passed value in radians.

Parameters

c_radians

the angle in CRadians

Returns

the sine of the passed value

Definition at line 586 of file angles.h.

SinCos()

void argos::SinCos ( const CRadians &  c_radians, Real &  f_sin, Real &  f_cos  )

inline

Computes the sine and cosine of the passed value in radians.

Parameters

c_radians	the angle in CRadians
f_sin	the buffer in which the sin must be stored
f_cos	the buffer in which the cos must be stored

Definition at line 574 of file angles.h.

Square()

template<typename T >

T argos::Square

(

const T &

t_v

)

Returns the square of the value of the passed argument.

Returns

the square of the value of the passed argument.

Definition at line 128 of file general.h.

SquareDistance() [1/2]

Real argos::SquareDistance ( const CVector2 &  c_v1, const CVector2 &  c_v2  )

inline

Computes the square distance between the passed vectors.

Parameters

c_v1	The first vector
c_v2	The second vector

Returns

The square distance between the passed vectors

Definition at line 452 of file vector2.h.

SquareDistance() [2/2]

Real argos::SquareDistance ( const CVector3 &  c_v1, const CVector3 &  c_v2  )

inline

Computes the square distance between the passed vectors.

Parameters

c_v1	The first vector
c_v2	The second vector

Returns

The square distance between the passed vectors

Definition at line 717 of file vector3.h.

StringToLowerCase()

std::string argos::StringToLowerCase

(

const std::string &

str_string

)

Converts a string to lower case.

Parameters

str_string

the string to convert.

Returns

the lower case string.

Definition at line 62 of file string_utilities.cpp.

StringToUpperCase()

std::string argos::StringToUpperCase

(

const std::string &

str_string

)

Converts a string to upper case.

Parameters

str_string

the string to convert.

Returns

the upper case string.

Definition at line 45 of file string_utilities.cpp.

Tan()

Real argos::Tan ( const CRadians &  c_radians )

inline

Computes the tangent of the passed value in radians.

Parameters

c_radians

the angle in CRadians

Returns

the tangent of the passed value

Definition at line 604 of file angles.h.

ToDegrees()

CDegrees argos::ToDegrees ( const CRadians &  c_radians )

inline

Converts CRadians to CDegrees.

Converts this object to CDegrees.

Parameters

c_radians

the object to convert

Returns

the converted CDegrees object

Definition at line 489 of file angles.h.

Tokenize()

void argos::Tokenize	(	const std::string &	str_string,
		std::vector< std::string > &	vec_tokens,
		const std::string &	str_delimiters = " "
	)

Tokenizes the given string according to the wanted delimiters (by default just a " ").

Parameters

str_string	the string to tokenize.
vec_tokens	the vector to fill with tokens.
str_delimiters	the delimiters to use.

Definition at line 16 of file string_utilities.cpp.

ToRadians()

CRadians argos::ToRadians ( const CDegrees &  c_degrees )

inline

Converts CDegrees to CRadians.

Converts this object to CRadians.

Parameters

c_degrees

the object to convert

Returns

the converted CRadians object

Definition at line 498 of file angles.h.

ToString()

template<typename T >

std::string argos::ToString

(

const T &

t_value

)

Converts the given parameter to a std::string.

Example of use:

UInt32 unToBeConverted(22);
std::string strConverted = ToString(unToBeConverted);

Internally uses an std::ostringstream. If you want to use it with a custom type, you must define its std::ostream& operator<<(std::ostream&, type).

Template Parameters

T	the type of the parameter to convert.

Parameters

t_value

the parameter to convert.

Returns

the std::string.

Definition at line 36 of file string_utilities.h.

UNIT()

CRange< Real > argos::UNIT	(	0.	0f,
		1.	0f
	)

Variable Documentation

APERTURE_RANGE

CRange<CRadians> argos::APERTURE_RANGE(CCI_FootBotGripperActuator::LOCKED_NEGATIVE, CCI_FootBotGripperActuator::LOCKED_POSITIVE)

BODY_COLOR

const GLfloat argos::BODY_COLOR[] = { 0.5f, 0.5f, 0.5f, 1.0f }

Definition at line 24 of file qtopengl_prototype.cpp.

DEBUG_INDENTATION

size_t argos::DEBUG_INDENTATION = 0

Definition at line 11 of file argos_log.cpp.

DEFAULT_EMISSION

const GLfloat argos::DEFAULT_EMISSION[] = { 0.0f, 0.0f, 0.0f, 1.0f }

Definition at line 18 of file qtopengl_user_functions.cpp.

DEFAULT_SHININESS

const GLfloat argos::DEFAULT_SHININESS[] = { 100.0f }

Definition at line 17 of file qtopengl_user_functions.cpp.

DEFAULT_SPECULAR

const GLfloat argos::DEFAULT_SPECULAR[] = { 0.0f, 0.0f, 0.0f, 1.0f }

Definition at line 16 of file qtopengl_user_functions.cpp.

EMISSION

const GLfloat argos::EMISSION = { 0.0f, 0.0f, 0.0f, 1.0f }

Definition at line 27 of file qtopengl_prototype.cpp.

INCLINATION_RANGE

CRange<CRadians> argos::INCLINATION_RANGE(CRadians(0), CRadians(ARGOS_PI))

LOG

CARGoSLog argos::LOG

Definition at line 179 of file argos_log.h.

LOGERR

CARGoSLog argos::LOGERR

Definition at line 180 of file argos_log.h.

MOVABLE_COLOR

const GLfloat argos::MOVABLE_COLOR = { 1.0f, 0.0f, 0.0f, 1.0f }

Definition at line 19 of file qtopengl_box.cpp.

NONMOVABLE_COLOR

const GLfloat argos::NONMOVABLE_COLOR = { 0.7f, 0.7f, 0.7f, 1.0f }

Definition at line 20 of file qtopengl_box.cpp.

RPM_TO_RADIANS_PER_SEC

const Real argos::RPM_TO_RADIANS_PER_SEC = ARGOS_PI / 30.0f

Definition at line 11 of file footbot_turret_default_actuator.cpp.

SHININESS

const GLfloat argos::SHININESS = { 0.0f }

Definition at line 26 of file qtopengl_prototype.cpp.

SPECULAR

const GLfloat argos::SPECULAR = { 0.0f, 0.0f, 0.0f, 1.0f }

Definition at line 25 of file qtopengl_prototype.cpp.