ARGoS 3
A parallel, multi-engine simulator for swarm robotics
ci_eyebot_proximity_sensor.cpp
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1
7#include "ci_eyebot_proximity_sensor.h"
8#include <argos3/core/utility/math/angles.h>
9
10#ifdef ARGOS_WITH_LUA
11#include <argos3/core/wrappers/lua/lua_utility.h>
12#endif
13
14namespace argos {
15
16 /****************************************/
17 /****************************************/
18
19 static CRadians SPACING = CRadians(ARGOS_PI / 12.0f);
20 static CRadians START_ANGLE = SPACING * 0.5f;
21
22 /****************************************/
23 /****************************************/
24
25 CCI_EyeBotProximitySensor::CCI_EyeBotProximitySensor() :
26 m_tReadings(24) {
27 for(size_t i = 0; i < 24; ++i) {
28 m_tReadings[i].Angle = START_ANGLE + i * SPACING;
29 m_tReadings[i].Angle.SignedNormalize();
30 }
31 }
32
33 /****************************************/
34 /****************************************/
35
39
40 /****************************************/
41 /****************************************/
42
43#ifdef ARGOS_WITH_LUA
44 void CCI_EyeBotProximitySensor::CreateLuaState(lua_State* pt_lua_state) {
45 CLuaUtility::OpenRobotStateTable(pt_lua_state, "proximity");
46 for(size_t i = 0; i < GetReadings().size(); ++i) {
47 CLuaUtility::StartTable(pt_lua_state, i+1 );
48 CLuaUtility::AddToTable(pt_lua_state, "angle", m_tReadings[i].Angle);
49 CLuaUtility::AddToTable(pt_lua_state, "value", m_tReadings[i].Value);
50 CLuaUtility::EndTable (pt_lua_state );
51 }
52 CLuaUtility::CloseRobotStateTable(pt_lua_state);
53 }
54#endif
55
56 /****************************************/
57 /****************************************/
58
59#ifdef ARGOS_WITH_LUA
60 void CCI_EyeBotProximitySensor::ReadingsToLuaState(lua_State* pt_lua_state) {
61 lua_getfield(pt_lua_state, -1, "proximity");
62 for(size_t i = 0; i < GetReadings().size(); ++i) {
63 lua_pushnumber(pt_lua_state, i+1 );
64 lua_gettable (pt_lua_state, -2 );
65 lua_pushnumber(pt_lua_state, m_tReadings[i].Value);
66 lua_setfield (pt_lua_state, -2, "value" );
67 lua_pop(pt_lua_state, 1);
68 }
69 lua_pop(pt_lua_state, 1);
70 }
71#endif
72
73
74 /****************************************/
75 /****************************************/
76
77 std::ostream& operator<<(std::ostream& c_os,
78 const CCI_EyeBotProximitySensor::SReading& s_reading) {
79 c_os << "Value=<" << s_reading.Value
80 << ">, Angle=<" << s_reading.Angle << ">";
81 return c_os;
82 }
83
84 /****************************************/
85 /****************************************/
86
87 std::ostream& operator<<(std::ostream& c_os,
88 const CCI_EyeBotProximitySensor::TReadings& t_readings) {
89 if(! t_readings.empty()) {
90 c_os << "{ " << t_readings[0].Value << " }";
91 for(UInt32 i = 1; i < t_readings.size(); ++i) {
92 c_os << " { " << t_readings[0].Value << " }";
93 }
94 c_os << std::endl;
95 }
96 return c_os;
97 }
98
99 /****************************************/
100 /****************************************/
101
102}
ARGOS_PI
#define ARGOS_PI
To be used when initializing static variables.
Definition angles.h:32
UInt32
unsigned int UInt32
32-bit unsigned integer.
Definition datatypes.h:97
argos
The namespace containing all the ARGoS related code.
Definition ci_actuator.h:12
argos::operator<<
std::ostream & operator<<(std::ostream &c_os, const CByteArray &c_byte_array)
Definition byte_array.cpp:530
argos::CRadians::SignedNormalize
CRadians & SignedNormalize()
Normalizes the value in the range [-PI:PI].
Definition angles.h:137
argos::CLuaUtility::EndTable
static void EndTable(lua_State *pt_state)
Adds a table to the Lua stack.
Definition lua_utility.cpp:367
argos::CLuaUtility::AddToTable
static void AddToTable(lua_State *pt_state, const std::string &str_key, void *pt_data)
Adds a pointer to a chunk of data with the given string key to the table located at the top of the st...
Definition lua_utility.cpp:383
argos::CLuaUtility::StartTable
static void StartTable(lua_State *pt_state, const std::string &str_key)
Adds a table with the given string key to the table located at the top of the stack.
Definition lua_utility.cpp:349
argos::CLuaUtility::OpenRobotStateTable
static void OpenRobotStateTable(lua_State *pt_state, const std::string &str_key)
Opens a table in the robot state, creating it if it does not exist.
Definition lua_utility.cpp:326
argos::CLuaUtility::CloseRobotStateTable
static void CloseRobotStateTable(lua_State *pt_state)
Closes a table in the robot state.
Definition lua_utility.cpp:342
argos::CCI_EyeBotProximitySensor::GetReadings
const TReadings & GetReadings() const
Returns the readings of this sensor.
Definition ci_eyebot_proximity_sensor.cpp:36