Microphone.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_MICROPHONE_H
#define __ENKI_MICROPHONE_H

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

#include <valarray>

namespace Enki
{
    typedef double (*MicrophoneResponseModel)(double, double);


    class Microphone : public LocalInteraction
    {
    protected:
        PhysicalObject *owner;
        Vector micAbsPos;
        Vector micRelPos;
        MicrophoneResponseModel micModel;
        double range;
        unsigned noOfChannels;
        double* acquiredSound;
        
    public: 
        Microphone(Robot *owner, Vector micRelPos, double range, 
                   MicrophoneResponseModel micModel, unsigned channels);
        ~Microphone(void);
        void init();
        virtual void objectStep(double dt, PhysicalObject *po, World *w);
        void resetSound(void);
        double* getAcquiredSound(void);
        void getMaxChannel(double *intensity, int *channel);
        Vector getMicAbsPos();
    };


    class FourWayMic : public LocalInteraction
    {
    protected:
        PhysicalObject *owner;
        Vector allMicAbsPos[4];
        double micDist;
        MicrophoneResponseModel micModel;
        double range;
        unsigned noOfChannels;
        double* acquiredSound[4];
        
    public: 
        FourWayMic(Robot *owner, double micDist, double range, 
                   MicrophoneResponseModel micModel, unsigned channels);
        ~FourWayMic(void);
        void init();
        virtual void objectStep(double dt, PhysicalObject *po, World *w);
        void resetSound(void);
        double* getAcquiredSound(unsigned micNo);
        void getMaxChannel(unsigned micNo, double *intensity, int *channel);
        Vector getMicAbsPos(unsigned micNo);
    };
}

#endif