Enki::AliceCommunication Class Reference
[Interaction classes]

#include <AliceCommunication.h>

Inheritance diagram for Enki::AliceCommunication:

List of all members.

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Detailed Description

Communication module for the Alice.

In the real alice, the communication is done via the infrared sensors. Here it is a different interaction

Public Member Functions
	AliceCommunication (double r, Robot *owner)
	Constructor; r is the robot's bounding circle radius.
void	init ()
	Init routine run before the interaction.
void	objectStep (double dt, PhysicalObject *po, World *w)
	The actual interaction.
void	addSensor (An::Vector pos, double ray)
	Add a new sensor at position pos of radius ray.
void	setTransmitValue (unsigned val)
	The value to transmit.
void	setTransmit (bool enabled)
	Turn transmission on or off.
bool	wasCommunication (void)
	Returns true if a communication signal was received.
bool	wasCommunicationSent (void)
	Returns true if a communication signal was sent.
unsigned	getSensorId (void)
	Returns the Id.
unsigned char	getSensorValue (void)
	Returns the received SensorValue.
Protected Member Functions
void	computeRealSensors (void)
	Compute the real position of sensors, update realSensors.
Protected Attributes
std::vector< std::pair< An::Vector, double > >	sensors
	The position of sensors through which the Alices communicate.
std::vector< An::Vector >	realSensors
	The actual position of sensors, transformed by robot position and orientation.
bool	updatedRealSensors
	True if the realSensors reflect the actual real position of the robot.
bool	enabled
	Is communication active.
unsigned	transmitValue
	Value to transmit through communication.
bool	wasReceived
	Was communication active last step.
unsigned	receivedSensor
	Sensor through which we received value.
unsigned	receivedValue
	Value received through communication.
double	smallestDistance2
	the smallest squared distance between two robots

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The documentation for this class was generated from the following files:

• enki/robots/alice/AliceCommunication.h
• enki/robots/alice/AliceCommunication.cpp

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