ci_footbot_base_ground_sensor.cpp

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#include "ci_footbot_base_ground_sensor.h"
 
#ifdef ARGOS_WITH_LUA
#include <argos3/core/wrappers/lua/lua_utility.h>
#endif
 
namespace argos {
 
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   CCI_FootBotBaseGroundSensor::CCI_FootBotBaseGroundSensor() :
      m_tReadings(8) {
      // Set the values for the base ground sensor offset (taken from the CAD model, in cm)
      m_tReadings[0].Offset.Set( 8.0, 0.0);
      m_tReadings[1].Offset.Set( 4.2, 6.5);
      m_tReadings[2].Offset.Set( 0.0, 8.0);
      m_tReadings[3].Offset.Set(-4.2, 6.5);
      m_tReadings[4].Offset.Set(-8.0, 0.0);
      m_tReadings[5].Offset.Set(-4.2,-6.5);
      m_tReadings[6].Offset.Set( 0.0,-8.0);
      m_tReadings[7].Offset.Set( 4.2,-6.5);
   }
 
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   const CCI_FootBotBaseGroundSensor::TReadings& CCI_FootBotBaseGroundSensor::GetReadings() const {
     return m_tReadings;
   }
      
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   std::ostream& operator<<(std::ostream& c_os,
                            const CCI_FootBotBaseGroundSensor::SReading& s_reading) {
      c_os << "Value=<" << s_reading.Value
           << ">, Offset=<" << s_reading.Offset << ">";
      return c_os;
   }
 
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   std::ostream& operator<<(std::ostream& c_os,
                            const CCI_FootBotBaseGroundSensor::TReadings& t_readings) {
      if(! t_readings.empty()) {
         c_os << "{ " << t_readings[0].Value << " }";
         for(UInt32 i = 1; i < t_readings.size(); ++i) {
            c_os << " { " << t_readings[0].Value << " }";
         }
         c_os << std::endl;
      }
      return c_os;
   }
 
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#ifdef ARGOS_WITH_LUA
   void CCI_FootBotBaseGroundSensor::CreateLuaState(lua_State* pt_lua_state) {
      CLuaUtility::OpenRobotStateTable(pt_lua_state, "base_ground");
      for(size_t i = 0; i < m_tReadings.size(); ++i) {
         CLuaUtility::StartTable(pt_lua_state, i+1                            );
         CLuaUtility::AddToTable(pt_lua_state, "offset", m_tReadings[i].Offset);
         CLuaUtility::AddToTable(pt_lua_state, "value",  m_tReadings[i].Value );
         CLuaUtility::EndTable  (pt_lua_state                                 );
      }
      CLuaUtility::CloseRobotStateTable(pt_lua_state);
   }
#endif
 
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#ifdef ARGOS_WITH_LUA
   void CCI_FootBotBaseGroundSensor::ReadingsToLuaState(lua_State* pt_lua_state) {
      lua_getfield(pt_lua_state, -1, "base_ground");
      for(size_t i = 0; i < m_tReadings.size(); ++i) {
         lua_pushnumber(pt_lua_state, i+1                 );
         lua_gettable  (pt_lua_state, -2                  );
         lua_pushnumber(pt_lua_state, m_tReadings[i].Value);
         lua_setfield  (pt_lua_state, -2, "value"         );
         lua_pop       (pt_lua_state, 1                   );
      }
      lua_pop(pt_lua_state, 1);
   }
#endif
 
 
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}