IRSensor.h

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/*
    Enki - a fast 2D robot simulator
    Copyright (C) 1999-2016 Stephane Magnenat <stephane at magnenat dot net>
    Copyright (C) 2004-2005 Markus Waibel <markus dot waibel at epfl dot ch>
    Copyright (c) 2004-2005 Antoine Beyeler <abeyeler at ab-ware dot com>
    Copyright (C) 2005-2006 Laboratory of Intelligent Systems, EPFL, Lausanne
    Copyright (C) 2006-2008 Laboratory of Robotics Systems, EPFL, Lausanne
    See AUTHORS for details

    This program is free software; the authors of any publication 
    arising from research using this software are asked to add the 
    following reference:
    Enki - a fast 2D robot simulator
    http://home.gna.org/enki
    Stephane Magnenat <stephane at magnenat dot net>,
    Markus Waibel <markus dot waibel at epfl dot ch>
    Laboratory of Intelligent Systems, EPFL, Lausanne.

    You can redistribute this program and/or modify
    it under the terms of the GNU General Public License as published by
    the Free Software Foundation; either version 2 of the License, or
    (at your option) any later version.

    This program is distributed in the hope that it will be useful,
    but WITHOUT ANY WARRANTY; without even the implied warranty of
    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
    GNU General Public License for more details.

    You should have received a copy of the GNU General Public License
    along with this program; if not, write to the Free Software
    Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
*/

#ifndef __ENKI_IRSENSOR_H
#define __ENKI_IRSENSOR_H

#include <enki/PhysicalEngine.h>
#include <enki/Interaction.h>

#include <valarray>
#undef min

namespace Enki
{

    class IRSensor : public LocalInteraction
    {
    protected:
        Vector absPos;
        double absOrientation;
        const Vector pos;
        const double height;
        const double orientation;
        const double range;
        const double aperture;
        const double alpha;
        const unsigned rayCount;
        const double m;
        const double x0;
        const double c;
        const double noiseSd;
        
        double smartRadius;
        Point smartPos;
        Vector absSmartPos;
        std::vector<double> rayDists;
        std::vector<double> rayValues;
        std::vector<double> rayAngles;
        std::vector<double> absRayAngles;
    
        double finalValue;
        double finalDist;
        
    public:

        IRSensor(Robot *owner, Vector pos, double height, double orientation, double range, double m, double x0, double c, double noiseSd = 0.);
        void init(double dt, World* w);
        void objectStep(double dt, World *w, PhysicalObject *po);
        void wallsStep(double dt, World* w);
        void finalize(double dt, World* w);
        
        double getValue(void) const { return finalValue; }
        double getDist(void) const { return finalDist; }
        double getRayValue(unsigned i) const { return rayValues.at(i); }
        double getRayDist(unsigned i) const { return rayDists.at(i); }
        
        Point getAbsolutePosition(void) const { return absPos; }
        double getAbsoluteOrientation(void) const { return absOrientation; }
        unsigned getRayCount(void) const { return rayCount; }
        double getAperture(void) const { return aperture; }
        double getRange(void) const { return range; }
        double getSmartRadius(void) const { return smartRadius; }
        Point getAbsSmartPos(void) const { return absSmartPos; }
        
    protected:
        void updateRay(size_t i, double dist);
        double responseFunction(double x) const;
        double inverseResponseFunction(double v) const;
        double distanceToPolygon(double rayAngle, const Polygone &p) const;
    };
}

#endif