Robotsystem of the Robot Group Leipzig: sensor.h Source File

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# sensor.h

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    00001 /***************************************************************************
    00002  *   Copyright (C) 2005 by Robot Group Leipzig                             *
    00003  *    martius@informatik.uni-leipzig.de                                    *
    00004  *    fhesse@informatik.uni-leipzig.de                                     *
    00005  *    der@informatik.uni-leipzig.de                                        *
    00006  *                                                                         *
    00007  *   This program is free software; you can redistribute it and/or modify  *
    00008  *   it under the terms of the GNU General Public License as published by  *
    00009  *   the Free Software Foundation; either version 2 of the License, or     *
    00010  *   (at your option) any later version.                                   *
    00011  *                                                                         *
    00012  *   This program is distributed in the hope that it will be useful,       *
    00013  *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
    00014  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
    00015  *   GNU General Public License for more details.                          *
    00016  *                                                                         *
    00017  *   You should have received a copy of the GNU General Public License     *
    00018  *   along with this program; if not, write to the                         *
    00019  *   Free Software Foundation, Inc.,                                       *
    00020  *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
    00021  *                                                                         *
    00022  *   $Log: sensor.h,v $
    00023  *   Revision 1.4  2007/11/07 13:22:47  martius
    00024  *   *** empty log message ***
    00025  *
    00026  *   Revision 1.3  2007/08/23 15:39:05  martius
    00027  *   new IR sensor schema which uses substances and callbacks, very nice
    00028  *
    00029  *   Revision 1.2  2006/12/21 11:42:10  martius
    00030  *   sensors have dimension to sense
    00031  *   axissensors have finer settings
    00032  *
    00033  *   Revision 1.1  2006/08/08 11:59:01  martius
    00034  *   new abstract class for sensors
    00035  *
    00036  *   Revision 1.1  2005/11/22 10:24:04  martius
    00037  *   abstract class for position sensor
    00038  *
    00039  *                                                                         *
    00040  ***************************************************************************/
    00041 #ifndef __SENSOR_H
    00042 #define __SENSOR_H
    00043
    00044 #include <list>
    00045 #include <selforg/types.h>
    00046 #include <selforg/stl_adds.h>
    00047 #include <selforg/matrix.h>
    00048 #include "globaldata.h"
    00049 #include "pos.h"
    00050
    00051 namespace lpzrobots {
    00052
    00053   // forward declaration
    00054   class Primitive;
    00055
    00056   /** Abstract class for sensors
    00057       that have no specific position at the robots skeleton
    00058   */
    00059   class Sensor {
    00060   public:
    00061     /// defines which dimensions should be sensed. The meaning is sensor specific.
    00062     enum Dimensions { X = 1, Y = 2, Z = 4 };
    00063
    00064     Sensor() {}
    00065     virtual ~Sensor() {}
    00066
    00067     /** initialises sensor with body of robot. This is usually done by the robot itself.
    00068     */
    00069     virtual void init(Primitive* own) = 0;
    00070
    00071     /** performs sense action
    00072      */
    00073     virtual bool sense(const GlobalData& globaldata) = 0;
    00074
    00075     /** returns the number of sensors values produced by this sensor
    00076      */
    00077     virtual int getSensorNumber() const  = 0;
    00078
    00079     /** returns a list of sensor values (usually in the range [0,1] )
    00080      */
    00081     virtual std::list<sensor> get() const  = 0;
    00082
    00083     /** writes the sensor values (usually in the range [0,1] )
    00084         into the giben sensor array and returns the number of sensors written
    00085         @param sensors call by refernce array which received the values
    00086         @param length capacity of sensors array
    00087         @return number of sensor values written
    00088      */
    00089     virtual int get(sensor* sensors, int length) const  = 0;
    00090
    00091     /// selects the rows specified by dimensions (X->0, Y->1, Z->2)
    00092     static std::list<sensor> selectrows(const matrix::Matrix& m, short dimensions) {
    00093       std::list<sensor> l;
    00094       for(int i=0; i<2; i++){
    00095         if(( 1 <<i ) & dimensions) l += m.row(i).convertToList();
    00096       }
    00097       return l;
    00098     }
    00099     /// selects the rows specified by dimensions (X->0, Y->1, Z->2)
    00100     static int selectrows(sensor* sensors, int length, const matrix::Matrix& m, short dimensions) {
    00101       int len=0;
    00102       for(int i=0; i<3; i++){
    00103         if(( 1 << i) & dimensions)
    00104           len+=m.row(i).convertToBuffer(sensors+len, length-len);
    00105       }
    00106       return len;
    00107     }
    00108
    00109   };
    00110
    00111 }
    00112
    00113 #endif