Robot Simulator of the Robotics Group for Self-Organization of Control: sensor.h Source File

# sensor.h

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    00001 /***************************************************************************
    00002  *   Copyright (C) 2005-2011 LpzRobots development team                    *
    00003  *    Georg Martius  <georg dot martius at web dot de>                     *
    00004  *    Frank Guettler <guettler at informatik dot uni-leipzig dot de        *
    00005  *    Frank Hesse    <frank at nld dot ds dot mpg dot de>                  *
    00006  *    Ralf Der       <ralfder at mis dot mpg dot de>                       *
    00007  *                                                                         *
    00008  *   This program is free software; you can redistribute it and/or modify  *
    00009  *   it under the terms of the GNU General Public License as published by  *
    00010  *   the Free Software Foundation; either version 2 of the License, or     *
    00011  *   (at your option) any later version.                                   *
    00012  *                                                                         *
    00013  *   This program is distributed in the hope that it will be useful,       *
    00014  *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
    00015  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
    00016  *   GNU General Public License for more details.                          *
    00017  *                                                                         *
    00018  *   You should have received a copy of the GNU General Public License     *
    00019  *   along with this program; if not, write to the                         *
    00020  *   Free Software Foundation, Inc.,                                       *
    00021  *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
    00022  *                                                                         *
    00023  ***************************************************************************/
    00024 #ifndef __SENSOR_H
    00025 #define __SENSOR_H
    00026
    00027 #include <list>
    00028 #include <selforg/types.h>
    00029 #include <selforg/stl_adds.h>
    00030 #include <selforg/matrix.h>
    00031 #include "globaldata.h"
    00032 #include "pos.h"
    00033
    00034 namespace lpzrobots {
    00035
    00036   // forward declaration
    00037   class Primitive;
    00038
    00039   /** Abstract class for sensors that can be plugged into a robot
    00040   */
    00041   class Sensor {
    00042   public:
    00043     /// defines which dimensions should be sensed. The meaning is sensor specific.
    00044     enum Dimensions { X = 1, Y = 2, Z = 4, XY = X | Y, XZ = X | Z, YZ = Y | Z, XYZ = X | Y | Z };
    00045
    00046     Sensor() {}
    00047     virtual ~Sensor() {}
    00048
    00049     /** initialises sensor with body of robot. This is usually done by the robot itself.
    00050     */
    00051     virtual void init(Primitive* own) = 0;
    00052
    00053     /** performs sense action
    00054      */
    00055     virtual bool sense(const GlobalData& globaldata) = 0;
    00056
    00057     /** returns the number of sensors values produced by this sensor
    00058      */
    00059     virtual int getSensorNumber() const  = 0;
    00060
    00061     /** returns a list of sensor values (usually in the range [0,1] )
    00062         This function should be overloaded.
    00063      */
    00064     virtual std::list<sensor> get() const  = 0;
    00065
    00066     /** to update any visual appearance
    00067      */
    00068     virtual void update() {};
    00069
    00070     /** writes the sensor values (usually in the range [0,1] )
    00071         into the given sensor array and returns the number of sensors written.
    00072         A default implementation based on get() is provided. Only of performance
    00073         matters overwrite this function.
    00074         @param sensors call by refernce array which received the values
    00075         @param length capacity of sensors array
    00076         @return number of sensor values written
    00077      */
    00078     virtual int get(sensor* sensors, int length) const {
    00079       const std::list<sensor>& l = get();
    00080       assert(length>=(int)l.size());
    00081       int n=0;
    00082       FOREACHC(std::list<sensor>,l,s)
    00083         sensors[n++] = *s;
    00084       return l.size();
    00085     };
    00086
    00087     /// selects the rows specified by dimensions (X->0, Y->1, Z->2)
    00088     static std::list<sensor> selectrows(const matrix::Matrix& m, short dimensions) {
    00089       std::list<sensor> l;
    00090       for(int i=0; i<2; i++){
    00091         if(( 1 <<i ) & dimensions) l += m.row(i).convertToList();
    00092       }
    00093       return l;
    00094     }
    00095     /// selects the rows specified by dimensions (X->0, Y->1, Z->2)
    00096     static int selectrows(sensor* sensors, int length, const matrix::Matrix& m, short dimensions) {
    00097       int len=0;
    00098       for(int i=0; i<3; i++){
    00099         if(( 1 << i) & dimensions)
    00100           len+=m.row(i).convertToBuffer(sensors+len, length-len);
    00101       }
    00102       return len;
    00103     }
    00104
    00105   };
    00106
    00107 }
    00108
    00109 #endif