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footbot_proximity_default_sensor.cpp
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footbot_proximity_default_sensor.cpp
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/**
* @file <argos3/plugins/robots/foot-bot/simulator/footbot_proximity_default_sensor.cpp>
*
* @author Carlo Pinciroli - <ilpincy@gmail.com>
*/
#include <argos3/core/simulator/entity/embodied_entity.h>
#include <argos3/core/simulator/entity/composable_entity.h>
#include <argos3/core/simulator/simulator.h>
#include "footbot_proximity_default_sensor.h"
namespace argos {
/****************************************/
/****************************************/
class CProximitySensorImpl : public CProximityDefaultSensor {
public:
virtual Real CalculateReading(Real f_distance) {
if(f_distance < 0.009889556) {
return 1.0;
}
else {
return 0.0100527 / (f_distance + 0.000163144);
}
}
};
/****************************************/
/****************************************/
CFootBotProximityDefaultSensor::CFootBotProximityDefaultSensor() :
m_pcProximityImpl(new CProximitySensorImpl()) {}
/****************************************/
/****************************************/
CFootBotProximityDefaultSensor::~CFootBotProximityDefaultSensor() {
delete m_pcProximityImpl;
}
/****************************************/
/****************************************/
void CFootBotProximityDefaultSensor::SetRobot(CComposableEntity& c_entity) {
try {
m_pcProximityImpl->SetRobot(c_entity);
}
catch(CARGoSException& ex) {
THROW_ARGOSEXCEPTION_NESTED("Can't set robot for the foot-bot proximity default sensor", ex);
}
}
/****************************************/
/****************************************/
void CFootBotProximityDefaultSensor::Init(TConfigurationNode& t_tree) {
m_pcProximityImpl->Init(t_tree);
}
/****************************************/
/****************************************/
void CFootBotProximityDefaultSensor::Update() {
m_pcProximityImpl->Update();
for(size_t i = 0; i < m_pcProximityImpl->GetReadings().size(); ++i) {
m_tReadings[i].Value = m_pcProximityImpl->GetReadings()[i];
}
}
/****************************************/
/****************************************/
void CFootBotProximityDefaultSensor::Reset() {
m_pcProximityImpl->Reset();
}
/****************************************/
/****************************************/
void CFootBotProximityDefaultSensor::Enable() {
CCI_Sensor::Enable();
m_pcProximityImpl->Enable();
}
/****************************************/
/****************************************/
void CFootBotProximityDefaultSensor::Disable() {
CCI_Sensor::Disable();
m_pcProximityImpl->Disable();
}
/****************************************/
/****************************************/
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"
);
}