Enki::OmniCam Class Reference

1D omnidirectional circular camera, based on 2 CircularCam Pixels start at -PI and then follow mathematical orientation to PI More...

#include <CircularCam.h>

Inheritance diagram for Enki::OmniCam:

Public Member Functions
	OmniCam (Robot *owner, double height, unsigned halfPixelCount)
	Constructor. More...
virtual	~OmniCam ()
	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.
void	setFogConditions (bool useFog, double density=0.0, Color threshold=Color::black)
	Change the fog condition for this camera. If useFog is true, an exponential fog with density will be used. Additionally, a threshold can be applied on the resulting color.
void	setPixelOperationFunctor (PixelOperationFunctor *pixelOperationFunctor)
	Change the pixel operation functor.
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)

Protected Attributes
CircularCam	cam0
	Cameras doing the real job, first part.
CircularCam	cam1
	Cameras doing the real job, second part.
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 omnidirectional circular camera, based on 2 CircularCam Pixels start at -PI and then follow mathematical orientation to PI

Constructor & Destructor Documentation

Enki::OmniCam::OmniCam	(	Robot *	owner,
		double	height,
		unsigned	halfPixelCount
	)

Constructor.

Parameters

owner	robot this camera is attached to
height	height of this camera with respect to ground
halfPixelCount	half the number of pixel to cover the full 2*PI field of view

References Enki::LocalInteraction::owner, and Enki::LocalInteraction::r.

Member Function Documentation

void Enki::OmniCam::objectStep ( double  dt, World *  w, PhysicalObject *  po  )

virtual

Interact with object.

Parameters

dt	time step
po	object to interact with
w	world where the interaction takes place

Reimplemented from Enki::LocalInteraction.

References cam0, cam1, and Enki::CircularCam::objectStep().

void Enki::OmniCam::wallsStep ( double  dt, World *  w  )

virtual

Interact with walls.

Parameters

w	world to which interact

Reimplemented from Enki::LocalInteraction.

References cam0, cam1, and Enki::CircularCam::wallsStep().

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

• enki/interactions/CircularCam.h
• enki/interactions/CircularCam.cpp