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

# relativepositionsensor.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 __RELATIVEPOSITIONSENSOR_H
    00025 #define __RELATIVEPOSITIONSENSOR_H
    00026
    00027 #include "sensor.h"
    00028
    00029 namespace lpzrobots {
    00030
    00031   /** Class for relative position sensing.
    00032       The sensor values are the normalised relative position to some given object ( setReference() )
    00033   */
    00034   class RelativePositionSensor : public Sensor {
    00035   public:
    00036     /**
    00037        @param maxDistance maximal distance that is expected used for normalisation of sensor value
    00038        @param exponent exponent of the sensor characteritic (default: 1 (linear))
    00039        @param dimensions bit mask for the dimensions to sense. Default: X | Y | Z (all dimensions)
    00040        @see Dimensions
    00041      */
    00042     RelativePositionSensor(double maxDistance, double exponent, short dimensions = X | Y | Z , bool local_coordinates = false);
    00043     virtual ~RelativePositionSensor() {}
    00044
    00045     virtual void init(Primitive* own);
    00046     virtual int getSensorNumber() const;
    00047
    00048     virtual bool sense(const GlobalData& globaldata);
    00049     virtual std::list<sensor> get() const;
    00050     virtual int get(sensor* sensors, int length) const;
    00051
    00052     /**
    00053        Sets the reference object we use for relative position measureing.
    00054        This can be another robot an obstacle (light source) and such like
    00055        This must be called before first sense() or get() call.
    00056     */
    00057     virtual void setReference(Primitive* ref);
    00058
    00059   private:
    00060     double maxDistance;
    00061     double exponent;
    00062     short dimensions;
    00063     Primitive* own;
    00064     Primitive* ref;
    00065     bool local_coords;
    00066   };
    00067
    00068
    00069 }
    00070
    00071 #endif