A ground infrared sensor. More...
#include <GroundSensor.h>
Inheritance diagram for Enki::GroundSensor:
Public Member Functions | |
| GroundSensor (Robot *owner, Vector pos, double mFactor, double aFactor, double spatialSd=0.4, double noiseSd=0.) | |
| Constructor. More... | |
| void | init (double dt, World *w) |
| Compute absolute position. | |
| double | getValue (void) const |
| Reset intensity value Return the final sensor value. | |
| Point | getAbsolutePosition (void) const |
| Return the absolute position of the ground sensor, updated at each time step on init() | |
 Public Member Functions inherited from Enki::LocalInteraction | |
| LocalInteraction () | |
| Constructor. | |
| LocalInteraction (double range, Robot *owner) | |
| Constructor. | |
| virtual | ~LocalInteraction () |
| Destructor. | |
| 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 | |
| Vector | absPos |
| Absolute position in the world, updated on init() | |
| const Vector | pos |
| Relative position on the robot. | |
| const double | mFactor |
| Multiplicative factor to compute finalValue. | |
| const double | aFactor |
| Additive factor to compute finalValue. | |
| const double | noiseSd |
| Standard deviation of Gaussian noise in the response space. | |
| double | filter [9][9] |
| Pre-computed coefficient to filter ground image on a 2x2 cm square, with a 0.25 cm resolution. | |
| double | finalValue |
| Final sensor value. | |
| 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 ground infrared sensor.
This sensor scans the intensity of a 2x2 cm square on the ground. It does 9x9 measurements, using a Gaussian model with a given spatialSd standard deviation, and a noiseSd Gaussian measurement error.
The final value is multiplied by mFactor, summed to aFactor, and then noiseSd is applied.
Constructor & Destructor Documentation
| Enki::GroundSensor::GroundSensor | ( | Robot * | owner, |
| Vector | pos, | ||
| double | mFactor, | ||
| double | aFactor, | ||
| double | spatialSd = 0.4, |
||
| double | noiseSd = 0. |
||
| ) |
Constructor.
- Parameters
-
owner robot which embeds this sensor pos relative position (x,y) on the robot mFactor multiplicative factor to compute finalValue aFactor additive factor to compute finalValue spatialSd standard deviation of the reading beam on the sensor on the ground noiseSd standard deviation of Gaussian noise in the response space
References filter, and Enki::LocalInteraction::owner.
The documentation for this class was generated from the following files:
- enki/interactions/GroundSensor.h
- enki/interactions/GroundSensor.cpp
