Enki::IRSensor Class Reference
[Interaction classes]

#include <IRSensor.h>

Inheritance diagram for Enki::IRSensor:

List of all members.

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Detailed Description

A generic infrared sensor.

Public Member Functions
	IRSensor (Robot *owner, An::Vector pos, double height, double orientation, double range, double aperture, unsigned rayCount, SensorResponseFunctor **sensorResponseKernel)
	Constructor e.g.
void	init ()
	Reset distance values.
void	objectStep (double dt, PhysicalObject *po, World *w)
	Check for all potential intersections using smartRadius of sensor and calculate and find closest distance for each ray.
void	wallsStep (World *w)
	Separated from objectStep because it is much simpler.
void	finalize (double dt)
	Applies the SensorResponseFunction to each ray and combines all rays using weights defined in the rayCombinationKernel.
An::Point	getAbsolutePosition (void)
	Return the absolute position of the IR sensor, updated at each time step on init().
double	getAbsoluteOrientation (void)
	Return the absolute orientation of the IR sensor, updated at each time step on init().
unsigned	getRayCount (void)
	Return the number of rays.
double	getAperture (void)
	Return the aperture of the sensor.
double	getRange (void)
	Return the range of the sensor.
double	getSmartRadius (void)
	Return the radius for the smallest circle enclosing all rays.
An::Point	getAbsSmartPos (void)
	Return current position of the center of the smartRadius, i.e. center of the smallest circle enclosing all rays in relative (robot) coordinates.
Public Attributes
double	finalValue
	Final sensor value.
Protected Attributes
An::Vector	absPos
	Absolute position in the world, updated on init().
double	absOrientation
	Absolute orientation in the world, updated on init().
An::Vector	pos
	Relative position on the robot.
double	height
	Height above ground, the sensor will not see any object of smaller height.
double	orientation
	Relative orientation on the robot.
double	range
	Actual detection range.
double	aperture
	Aperture angle.
unsigned	rayCount
	Number of rays used, each ray has an aperture of aperture/rayCount to the next one. Rays are assembled from right to left (i.e. counterclockwise).
std::valarray< SensorResponseFunctor * >	sensorResponseKernel
	Array of size rayCount used to compute the response of different rays using implementations of SensorResponseFunctor functors.
double	smartRadius
	Radius for the smallest circle enclosing all rays.
An::Point	smartPos
	Current position of the center of the smartRadius, i.e. center of the smallest circle enclosing all rays in relative (robot) coordinates.
An::Vector	absSmartPos
	Current position of the center of the smartRadius in absolute (world) coordinates, updated on init().
std::valarray< double >	rayValues
	Temporary ray values containing the lowest distance found up to now.
std::valarray< An::Color >	rayColors
	Temporary ray values containing the color of the closest segment up to now.
std::valarray< double >	rayAngles
	The angle for each ray relative to the sensor orientation in relative (robot) coordinates.
std::valarray< double >	absRayAngles
	The angle for each ray relative to the sensor orientation in absolute (world) coordinates.
Private Member Functions
double	distanceToPolygon (double rayAngle, const An::Polygone &p) const
	Returns distance to PhysicalObject po for angle rayAngle.

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Constructor & Destructor Documentation

Enki::IRSensor::IRSensor (  Robot *  owner, An::Vector  pos, double  height, double  orientation, double  range, double  aperture, unsigned  rayCount, SensorResponseFunctor **  sensorResponseKernel )

Constructor e.g. : "left(this, Vector (0.95, 0.95), 1.2, M_PI/4, 2.5, M_PI/6, 3, AliceIRNormalSensorModel)" i.e. for left: position on bot is x=0.95, y=0.95 from center of bot, height of sensor is 1.2, looking 45 deg to the left, +/-30 deg opening angle, 3cm max sensor range, a raycount of 3, SensorResponseFunctor in AliceIRNormalSensorModel array

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Member Function Documentation

double Enki::IRSensor::distanceToPolygon (  double  rayAngle, const An::Polygone &  p )  const [private]

Returns distance to PhysicalObject po for angle rayAngle. Note: The polygon MUST be convex and have vertices oriented counterclockwise (ccw). This code does not check for and verify these conditions. Returns distance to shortest intersection point or HUGE_VAL if there is no intersection

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Member Data Documentation

std::valarray<SensorResponseFunctor *> Enki::IRSensor::sensorResponseKernel [protected]

Array of size rayCount used to compute the response of different rays using implementations of SensorResponseFunctor functors. SensorResponseFunctors translate the distances stored in the rayValues[] into actual sensor activations. Distances are in cm. For negative distance values, i.e. a sensor inside an object, wall, etc., the value of the sensor response function at distance 0 will be used. If a ray fails to touch the object, the distance returned will be HUGE_VAL; the sensor response function should typically return a 0 sensor activation for this case. An appropriate noise model (if realistic modelling is desired) should be included in the sensor response function.

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

• enki/interactions/IRSensor.h
• enki/interactions/IRSensor.cpp

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