A generic sound sensor/microphone. More...
#include <Microphone.h>
Inheritance diagram for Enki::FourWayMic:
Public Member Functions | |
| FourWayMic (Robot *owner, double micDist, double range, MicrophoneResponseModel micModel, unsigned channels) | |
| Constructor e.g. More... | |
| ~FourWayMic (void) | |
| Destructor. | |
| void | init () |
| Reset distance values, called every w->step() | |
| virtual void | objectStep (double dt, PhysicalObject *po, World *w) |
| Check for local interactions with other physical objects. | |
| void | resetSound (void) |
| Reset sound buffer to 0 after one time-step in experiment. | |
| double * | getAcquiredSound (unsigned micNo) |
| Return frequencies of input sound. | |
| void | getMaxChannel (unsigned micNo, double *intensity, int *channel) |
| Find frequency with maximum intensity. | |
| Vector | getMicAbsPos (unsigned micNo) |
| Get absolute position of microphone. | |
 Public Member Functions inherited from Enki::LocalInteraction | |
| LocalInteraction () | |
| Constructor. | |
| LocalInteraction (double range, Robot *owner) | |
| Constructor. | |
| virtual | ~LocalInteraction () |
| 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. | |
| double | getRange () const |
| Return the range of the interaction. | |
Protected Attributes | |
| PhysicalObject * | owner |
| Robot/object with the microphone. | |
| Vector | allMicAbsPos [4] |
| Absolute position in the world, updated on init() | |
| double | micDist |
| Distance of the mics from centre of object. | |
| MicrophoneResponseModel | micModel |
| Microphone frequency response model. | |
| double | range |
| Actual detection range. | |
| unsigned | noOfChannels |
| No of frequency channels distinguished in input. | |
| double * | acquiredSound [4] |
| Microphone input signal (array of size noOfChannels for 4 mics) | |
| Protected Attributes inherited from Enki::LocalInteraction | |
| double | r |
| Radius of the local interaction. | |
| Robot * | owner |
| The physical object that owns the interaction. | |
Detailed Description
A generic sound sensor/microphone.
Constructor & Destructor Documentation
| Enki::FourWayMic::FourWayMic | ( | Robot * | owner, |
| double | micDist, | ||
| double | range, | ||
| MicrophoneResponseModel | micModel, | ||
| unsigned | channels | ||
| ) |
Constructor e.g.
: FourWayMic(this, 0.5, 5, micStepModel, 20); meaning: each of the 4 mics is 0.5 away from robot center, can hear sounds up to 5 units away, uses a step model to detect sounds and can distinguish 20 frequencies
References Enki::Microphone::acquiredSound, Enki::PhysicalObject::angle, Enki::Microphone::micModel, Enki::Microphone::noOfChannels, Enki::Microphone::owner, Enki::PhysicalObject::pos, Enki::LocalInteraction::r, and Enki::Microphone::range.
The documentation for this class was generated from the following files:
- enki/interactions/Microphone.h
- enki/interactions/Microphone.cpp
