Enki Namespace Reference

Enki is the namespace of the Enki simulator. All Enki functions and classes excepted the math one are inside this namespace. More...

Classes
class	ActiveSoundObject
	ActiveSoundObject can be inherited by any robot that want to emit sound. More...
class	ActiveSoundSource
	Time limited sound emitter. More...
class	Bluetooth
	Implementation of an onboard Bluetooth module. More...
class	BluetoothBase
	Implementation of a Bluetooth base coordinating the Bluetooth modules. More...
class	CircularCam
	1D Circular camera More...
struct	Color
	A color in RGBA. More...
struct	DepthTest
	Standard depth test. More...
class	DifferentialWheeled
class	EPuck
	A simple model of the E-puck robot. More...
class	EPuckScannerTurret
	The rotating, long range distance sensor turret of the E-puck robot. More...
class	FastRandom
	A fast random generator. More...
class	FeedableSbot
	An "improved" Sbot that can interact with SbotActiveObject. More...
class	FourWayMic
	A generic sound sensor/microphone. More...
class	GlobalInteraction
	Interacts with the whole world. More...
class	GroundSensor
	A ground infrared sensor. More...
struct	InteractionRadiusCompare
	A functor then compares the radius of two local interactions. More...
class	IRSensor
	A generic infrared sensor. More...
class	Khepera
	A simple model of the Khepera robot. More...
class	LocalInteraction
	Interacts with another object or wall only up to a certain distance. More...
class	Marxbot
	A very simplified model of the Sbot mobile robot. More...
struct	Matrix22
	A 2x2 matrix. More...
class	Microphone
	A generic sound sensor/microphone. More...
class	OmniCam
	1D omnidirectional circular camera, based on 2 CircularCam Pixels start at -PI and then follow mathematical orientation to PI More...
class	PhysicalObject
	A situated object in the world with mass, geometry properties, physical properties, ... More...
struct	PixelOperationFunctor
	Functor for pixel operation. More...
struct	Polygone
	Polygone, which is a vector of points. Anti-clockwise, standard trigonometric orientation. More...
class	Robot
	A robot is a PhysicalObject that has additional interactions and a controller. More...
class	Sbot
	A very simplified model of the Sbot mobile robot. More...
class	SbotActiveObject
	SbotActiveObject give or remove energy to nearby Sbots through an SbotFeeding interaction. More...
class	SbotActiveSoundObject
	SbotActiveSoundObject give or remove energy to nearby Sbots through an SbotFeeding interaction. More...
class	SbotFeeding
	Feeding interaction gives or remove energy to nearby Sbots. More...
class	SbotGlobalSound
	Interaction sound between all Sbots. More...
class	SbotMicrophone
	Specific microphone for S-bots. More...
struct	Segment
	A segment in a 2D space, basically two points. More...
class	SoundSbot
	This Sbot version has sound capabilities inherited from ActiveSoundObject, as well as the feeding and usual capabilities of an Sbot. More...
class	Thymio2
	A simple model of the Thymio robot. More...
struct	UniformRand
	Functor to be used with <algorithm> More...
struct	Vector
	A vector in a 2D space. More...
class	World
	The world is the container of all objects and robots. More...

Typedefs
typedef Vector	Point
	A point in a 2D space, another name for a vector. More...
typedef double(*	MicrophoneResponseModel) (double, double)
	A function for manipulating acquired sound, normally to model saturation, distance decreasing or frequency response.
typedef std::vector< Color >	Texture
	A texture.
typedef std::vector< Texture >	Textures
	Textures for all sides of an object.

Functions
std::ostream &	operator<< (std::ostream &outs, const Vector &vector)
	Print a vector to a stream.
std::ostream &	operator<< (std::ostream &outs, const Polygone &polygone)
	Print a polygone to a stream. More...
double	normalizeAngle (double angle)
	Normlize an angle to be between -PI and +PI. More...
Point	getIntersection (const Segment &s1, const Segment &s2)
	get the intersection point between two line segments returns Point(HUGE_VAL, HUGE_VAL) if there's no intersection added by yvan..nosp@m.bour.nosp@m.quin@.nosp@m.epfl.nosp@m..ch More...
double	getTriangleAreaTwice (const Point &a, const Point &b, const Point &c)
	Returns 2 times the signed triangle area. More...
double	getTriangleHeight (const Point &a, const Point &b, const Point &c)
	Returns signed height of triangle abc with base ab. More...
double	uniformRand (void)
	Return a number in [0;1[ in a uniform distribution. More...
unsigned	intRand (unsigned max)
	Return a number between [0;max[ in integer in a uniform distribution. More...
bool	boolRand (double prob=0.5)
	Return true with a probability prob. If no argument is given, prob = 0.5. More...
double	gaussianRand (double mean, double sigm)
	Return a random number with a gaussian distribution of a certain mean and standard deviation. More...
template<typename T >
T	clamp (T v, T min, T max)
double	marxbotVirtualBumperResponseFunction (double dist)
double	MicrophonePseudoRealResponseModel (double signal, double distance)
	Response model for sound on s-bot.
std::ostream &	operator<< (std::ostream &os, const Color &c)

Variables
Enki::DepthTest	depthTest
	Standard depth test instance.
FastRandom	random
	Fast random for use by Enki.

Detailed Description

Enki is the namespace of the Enki simulator. All Enki functions and classes excepted the math one are inside this namespace.