1D Circular camera More...

Inheritance diagram for Enki::CircularCam:

Public Member Functions
	CircularCam (Robot *owner, Vector pos, double height, double orientation, double halfFieldOfView, unsigned pixelCount)
	Constructor. More...

virtual	~CircularCam ()
	Destructor.

virtual void	init (double dt, World *w)
	Init at each step.

virtual void	objectStep (double dt, World w, PhysicalObject po)
	Interact with object. More...

virtual void	wallsStep (double dt, World *w)
	Interact with walls. More...

virtual void	finalize (double dt, World *w)
	Finalize at each step.

void	setRange (double range)
	Change the sight range of the camera.

Point	getAbsolutePosition (void)
	Return the absolute position (world coordinates) of the camera, updated at each time step on init()

double	getAbsoluteOrientation (void)
	Return the absolute orientation (world coordinates) of the camera, updated at each time step on init()

Public Member Functions inherited from Enki::LocalInteraction
	LocalInteraction ()
	Constructor.

	LocalInteraction (double range, Robot *owner)
	Constructor.

virtual	~LocalInteraction ()
	Destructor.

double	getRange () const
	Return the range of the interaction.

Public Attributes
std::valarray< double >	zbuffer
	zbuffer: distances at square (array of size pixelCount of double)

std::valarray< Color >	image
	Image (array of size pixelCount of Color)

double	halfFieldOfView
	Field of view = [-halfFieldOfView; + halfFieldOfView]. [0; PI/2].

double	angleOffset
	Angular offset based on owner angle.

bool	useFog
	Fog switch, exponential decay of light with distance.

double	fogDensity
	Density of fog, used to compute light attenuation with the function: light = light0 * exp(-fogDensity * distance)

Color	lightThreshold
	Minimum incoming light, otherwise 0. Only used if useFog is true.

PixelOperationFunctor *	pixelOperation
	Pointer to active pixel operation.

Protected Member Functions
double	interpolateLinear (double s0, double s1, double sv, double d0, double d1)
	Return linear interpolated value between d0 and d1, given a sensorvalue sv between s0 and s1.

void	drawTexturedLine (const Point &p0, const Point &p1, const Texture &texture)
	Draw a textured line from point p0 to p1 using texture - WTF are p0 and p1??

Protected Attributes
Vector	positionOffset
	Position offset based on owner position.

double	height
	Height above ground, the camera will not see any object of smaller height.

Vector	absPos
	Absolute position in the world, updated on init()

double	absOrientation
	Absolute angle in the world, updated on init()

Protected Attributes inherited from Enki::LocalInteraction
double	r
	Radius of the local interaction.

Robot *	owner
	The physical object that owns the interaction.

Detailed Description

1D Circular camera

The maximum aperture angle of this camera is PI, so this is not an omnicam. Pixels start at -halfFieldOfView and then follow mathematical orientation

Constructor & Destructor Documentation

Enki::CircularCam::CircularCam	(	Robot *	owner,
		Vector	pos,
		double	height,
		double	orientation,
		double	halfFieldOfView,
		unsigned	pixelCount
	)

Constructor.

Parameters

owner	robot this camera is attached to
pos	position of this camera on the robot
height	height of this camera with respect to ground
orientation	orientation of this camera with respect to the robot front
halfFieldOfView	half aperture of the camera. The real field of view is twice this value [0; PI/2]
pixelCount	number of pixel to cover the full field of view