ARGoS 3
A parallel, multi-engine simulator for swarm robotics
epuck_entity.cpp
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1
7#include "epuck_entity.h"
8
9#include <argos3/core/utility/math/matrix/rotationmatrix3.h>
10#include <argos3/core/simulator/space/space.h>
11#include <argos3/core/simulator/entity/controllable_entity.h>
12#include <argos3/core/simulator/entity/embodied_entity.h>
13#include <argos3/plugins/simulator/entities/rab_equipped_entity.h>
14#include <argos3/plugins/simulator/entities/ground_sensor_equipped_entity.h>
15#include <argos3/plugins/simulator/entities/led_equipped_entity.h>
16#include <argos3/plugins/simulator/entities/light_sensor_equipped_entity.h>
17#include <argos3/plugins/simulator/entities/proximity_sensor_equipped_entity.h>
18#include <argos3/plugins/simulator/entities/battery_equipped_entity.h>
19
20namespace argos {
21
22 /****************************************/
23 /****************************************/
24
25 static const Real BODY_RADIUS = 0.035f;
26 static const Real BODY_HEIGHT = 0.086f;
27
28 static const Real INTERWHEEL_DISTANCE = 0.053f;
29 static const Real HALF_INTERWHEEL_DISTANCE = INTERWHEEL_DISTANCE * 0.5f;
30 static const Real WHEEL_RADIUS = 0.0205f;
31
32 static const Real PROXIMITY_SENSOR_RING_ELEVATION = 0.06f;
33 static const Real PROXIMITY_SENSOR_RING_RADIUS = BODY_RADIUS;
34 static const CRadians PROXIMITY_SENSOR_RING_START_ANGLE = CRadians((2 * ARGOS_PI / 8.0f) * 0.5f);
35 static const Real PROXIMITY_SENSOR_RING_RANGE = 0.1f;
36
37 static const CRadians LED_RING_START_ANGLE = CRadians((ARGOS_PI / 8.0f) * 0.5f);
38 static const Real LED_RING_RADIUS = BODY_RADIUS + 0.007;
39 static const Real LED_RING_ELEVATION = 0.086f;
40 static const Real RAB_ELEVATION = LED_RING_ELEVATION;
41
42 /****************************************/
43 /****************************************/
44
45 CEPuckEntity::CEPuckEntity() :
46 CComposableEntity(nullptr),
47 m_pcControllableEntity(nullptr),
48 m_pcEmbodiedEntity(nullptr),
49 m_pcGroundSensorEquippedEntity(nullptr),
50 m_pcLEDEquippedEntity(nullptr),
51 m_pcLightSensorEquippedEntity(nullptr),
52 m_pcProximitySensorEquippedEntity(nullptr),
53 m_pcRABEquippedEntity(nullptr),
54 m_pcWheeledEntity(nullptr),
55 m_pcBatteryEquippedEntity(nullptr) {
56 }
57
58 /****************************************/
59 /****************************************/
60
61 CEPuckEntity::CEPuckEntity(const std::string& str_id,
62 const std::string& str_controller_id,
63 const CVector3& c_position,
64 const CQuaternion& c_orientation,
65 Real f_rab_range,
66 size_t un_rab_data_size,
67 const std::string& str_bat_model) :
68 CComposableEntity(nullptr, str_id),
69 m_pcControllableEntity(nullptr),
70 m_pcEmbodiedEntity(nullptr),
71 m_pcGroundSensorEquippedEntity(nullptr),
72 m_pcLEDEquippedEntity(nullptr),
73 m_pcLightSensorEquippedEntity(nullptr),
74 m_pcProximitySensorEquippedEntity(nullptr),
75 m_pcRABEquippedEntity(nullptr),
76 m_pcWheeledEntity(nullptr),
77 m_pcBatteryEquippedEntity(nullptr) {
78 try {
79 /*
80 * Create and init components
81 */
82 /* Embodied entity */
83 m_pcEmbodiedEntity = new CEmbodiedEntity(this, "body_0", c_position, c_orientation);
84 AddComponent(*m_pcEmbodiedEntity);
85 /* Wheeled entity and wheel positions (left, right) */
86 m_pcWheeledEntity = new CWheeledEntity(this, "wheels_0", 2);
87 AddComponent(*m_pcWheeledEntity);
88 m_pcWheeledEntity->SetWheel(0, CVector3(0.0f, HALF_INTERWHEEL_DISTANCE, 0.0f), WHEEL_RADIUS);
89 m_pcWheeledEntity->SetWheel(1, CVector3(0.0f, -HALF_INTERWHEEL_DISTANCE, 0.0f), WHEEL_RADIUS);
90 /* LED equipped entity */
91 m_pcLEDEquippedEntity = new CLEDEquippedEntity(this, "leds_0");
92 AddComponent(*m_pcLEDEquippedEntity);
93 m_pcLEDEquippedEntity->AddLEDRing(
94 CVector3(0.0f, 0.0f, LED_RING_ELEVATION),
95 LED_RING_RADIUS,
96 LED_RING_START_ANGLE,
97 8,
98 m_pcEmbodiedEntity->GetOriginAnchor());
99 /* Proximity sensor equipped entity */
100 m_pcProximitySensorEquippedEntity =
101 new CProximitySensorEquippedEntity(this,
102 "proximity_0");
103 AddComponent(*m_pcProximitySensorEquippedEntity);
104
105
106 /*m_pcProximitySensorEquippedEntity->AddSensorRing(
107 CVector3(0.0f, 0.0f, PROXIMITY_SENSOR_RING_ELEVATION),
108 PROXIMITY_SENSOR_RING_RADIUS,
109 PROXIMITY_SENSOR_RING_START_ANGLE,
110 PROXIMITY_SENSOR_RING_RANGE,
111 8,
112 m_pcEmbodiedEntity->GetOriginAnchor());*/
113 CRadians sensor_angle[8];
114 sensor_angle[0] = CRadians::PI / 10.5884f;
115 sensor_angle[1] = CRadians::PI / 3.5999f;
116 sensor_angle[2] = CRadians::PI_OVER_TWO; //side sensor
117 sensor_angle[3] = CRadians::PI / 1.2f; // back sensor
118 sensor_angle[4] = CRadians::PI / 0.8571f; // back sensor
119 sensor_angle[5] = CRadians::PI / 0.6667f; //side sensor
120 sensor_angle[6] = CRadians::PI / 0.5806f;
121 sensor_angle[7] = CRadians::PI / 0.5247f;
122
123 CRadians cAngle;
124 CVector3 cOff, cDir, c_center = CVector3(0.0f, 0.0f, PROXIMITY_SENSOR_RING_ELEVATION);
125 for(UInt32 i = 0; i < 8; ++i)
126 {
127 cAngle = sensor_angle[i];
128 cAngle.SignedNormalize();
129 cOff.Set(PROXIMITY_SENSOR_RING_RADIUS, 0.0f, 0.0f);
130 cOff.RotateZ(cAngle);
131 cOff += c_center;
132 cDir.Set(PROXIMITY_SENSOR_RING_RANGE, 0.0f, 0.0f);
133 cDir.RotateZ(cAngle);
134 m_pcProximitySensorEquippedEntity->AddSensor(cOff, cDir, PROXIMITY_SENSOR_RING_RANGE, m_pcEmbodiedEntity->GetOriginAnchor());
135 }
136
137
138 /* Light sensor equipped entity */
139 m_pcLightSensorEquippedEntity =
140 new CLightSensorEquippedEntity(this,
141 "light_0");
142 AddComponent(*m_pcLightSensorEquippedEntity);
143 m_pcLightSensorEquippedEntity->AddSensorRing(
144 CVector3(0.0f, 0.0f, PROXIMITY_SENSOR_RING_ELEVATION),
145 PROXIMITY_SENSOR_RING_RADIUS,
146 PROXIMITY_SENSOR_RING_START_ANGLE,
147 PROXIMITY_SENSOR_RING_RANGE,
148 8,
149 m_pcEmbodiedEntity->GetOriginAnchor());
150 /* Ground sensor equipped entity */
151 m_pcGroundSensorEquippedEntity =
152 new CGroundSensorEquippedEntity(this,
153 "ground_0");
154 AddComponent(*m_pcGroundSensorEquippedEntity);
155 m_pcGroundSensorEquippedEntity->AddSensor(CVector2(0.03f, -0.009f),
156 CGroundSensorEquippedEntity::TYPE_GRAYSCALE,
157 m_pcEmbodiedEntity->GetOriginAnchor());
158 m_pcGroundSensorEquippedEntity->AddSensor(CVector2(0.03f, 0.0f),
159 CGroundSensorEquippedEntity::TYPE_GRAYSCALE,
160 m_pcEmbodiedEntity->GetOriginAnchor());
161 m_pcGroundSensorEquippedEntity->AddSensor(CVector2(0.03f, 0.009f),
162 CGroundSensorEquippedEntity::TYPE_GRAYSCALE,
163 m_pcEmbodiedEntity->GetOriginAnchor());
164 /* RAB equipped entity */
165 m_pcRABEquippedEntity = new CRABEquippedEntity(this,
166 "rab_0",
167 un_rab_data_size,
168 f_rab_range,
169 m_pcEmbodiedEntity->GetOriginAnchor(),
170 *m_pcEmbodiedEntity,
171 CVector3(0.0f, 0.0f, RAB_ELEVATION));
172 AddComponent(*m_pcRABEquippedEntity);
173 /* Battery equipped entity */
174 m_pcBatteryEquippedEntity = new CBatteryEquippedEntity(this, "battery_0", str_bat_model);
175 AddComponent(*m_pcBatteryEquippedEntity);
176 /* Controllable entity
177 It must be the last one, for actuators/sensors to link to composing entities correctly */
178 m_pcControllableEntity = new CControllableEntity(this, "controller_0");
179 AddComponent(*m_pcControllableEntity);
180 m_pcControllableEntity->SetController(str_controller_id);
181 /* Update components */
182 UpdateComponents();
183 }
184 catch(CARGoSException& ex) {
185 THROW_ARGOSEXCEPTION_NESTED("Failed to initialize entity \"" << GetId() << "\".", ex);
186 }
187 }
188
189 /****************************************/
190 /****************************************/
191
192 void CEPuckEntity::Init(TConfigurationNode& t_tree) {
193 try {
194 /*
195 * Init parent
196 */
197 CComposableEntity::Init(t_tree);
198 /*
199 * Create and init components
200 */
201 /* Embodied entity */
202 m_pcEmbodiedEntity = new CEmbodiedEntity(this);
203 AddComponent(*m_pcEmbodiedEntity);
204 m_pcEmbodiedEntity->Init(GetNode(t_tree, "body"));
205 /* Wheeled entity and wheel positions (left, right) */
206 m_pcWheeledEntity = new CWheeledEntity(this, "wheels_0", 2);
207 AddComponent(*m_pcWheeledEntity);
208 m_pcWheeledEntity->SetWheel(0, CVector3(0.0f, HALF_INTERWHEEL_DISTANCE, 0.0f), WHEEL_RADIUS);
209 m_pcWheeledEntity->SetWheel(1, CVector3(0.0f, -HALF_INTERWHEEL_DISTANCE, 0.0f), WHEEL_RADIUS);
210 /* LED equipped entity, with LEDs [0-11] and beacon [12] */
211 m_pcLEDEquippedEntity = new CLEDEquippedEntity(this, "leds_0");
212 AddComponent(*m_pcLEDEquippedEntity);
213 m_pcLEDEquippedEntity->AddLEDRing(
214 CVector3(0.0f, 0.0f, LED_RING_ELEVATION),
215 LED_RING_RADIUS,
216 LED_RING_START_ANGLE,
217 8,
218 m_pcEmbodiedEntity->GetOriginAnchor());
219
220 /* Proximity sensor equipped entity */
221 m_pcProximitySensorEquippedEntity =
222 new CProximitySensorEquippedEntity(this,
223 "proximity_0");
224 AddComponent(*m_pcProximitySensorEquippedEntity);
225 /*m_pcProximitySensorEquippedEntity->AddSensorRing(
226 CVector3(0.0f, 0.0f, PROXIMITY_SENSOR_RING_ELEVATION),
227 PROXIMITY_SENSOR_RING_RADIUS,
228 PROXIMITY_SENSOR_RING_START_ANGLE,
229 PROXIMITY_SENSOR_RING_RANGE,
230 8,
231 m_pcEmbodiedEntity->GetOriginAnchor());*/
232
233 CRadians sensor_angle[8];
234 sensor_angle[0] = CRadians::PI / 10.5884f;
235 sensor_angle[1] = CRadians::PI / 3.5999f;
236 sensor_angle[2] = CRadians::PI_OVER_TWO; //side sensor
237 sensor_angle[3] = CRadians::PI / 1.2f; // back sensor
238 sensor_angle[4] = CRadians::PI / 0.8571f; // back sensor
239 sensor_angle[5] = CRadians::PI / 0.6667f; //side sensor
240 sensor_angle[6] = CRadians::PI / 0.5806f;
241 sensor_angle[7] = CRadians::PI / 0.5247f;
242
243 CRadians cAngle;
244 CVector3 cOff, cDir, c_center = CVector3(0.0f, 0.0f, PROXIMITY_SENSOR_RING_ELEVATION);
245 for(UInt32 i = 0; i < 8; ++i)
246 {
247 cAngle = sensor_angle[i];
248 cAngle.SignedNormalize();
249 cOff.Set(PROXIMITY_SENSOR_RING_RADIUS, 0.0f, 0.0f);
250 cOff.RotateZ(cAngle);
251 cOff += c_center;
252 cDir.Set(PROXIMITY_SENSOR_RING_RANGE, 0.0f, 0.0f);
253 cDir.RotateZ(cAngle);
254 m_pcProximitySensorEquippedEntity->AddSensor(cOff, cDir, PROXIMITY_SENSOR_RING_RANGE, m_pcEmbodiedEntity->GetOriginAnchor());
255 }
256
257
258
259 /* Light sensor equipped entity */
260 m_pcLightSensorEquippedEntity =
261 new CLightSensorEquippedEntity(this,
262 "light_0");
263 AddComponent(*m_pcLightSensorEquippedEntity);
264 m_pcLightSensorEquippedEntity->AddSensorRing(
265 CVector3(0.0f, 0.0f, PROXIMITY_SENSOR_RING_ELEVATION),
266 PROXIMITY_SENSOR_RING_RADIUS,
267 PROXIMITY_SENSOR_RING_START_ANGLE,
268 PROXIMITY_SENSOR_RING_RANGE,
269 8,
270 m_pcEmbodiedEntity->GetOriginAnchor());
271 /* Ground sensor equipped entity */
272 m_pcGroundSensorEquippedEntity =
273 new CGroundSensorEquippedEntity(this,
274 "ground_0");
275 AddComponent(*m_pcGroundSensorEquippedEntity);
276 m_pcGroundSensorEquippedEntity->AddSensor(CVector2(0.03f, -0.009f),
277 CGroundSensorEquippedEntity::TYPE_GRAYSCALE,
278 m_pcEmbodiedEntity->GetOriginAnchor());
279 m_pcGroundSensorEquippedEntity->AddSensor(CVector2(0.03f, 0.0f),
280 CGroundSensorEquippedEntity::TYPE_GRAYSCALE,
281 m_pcEmbodiedEntity->GetOriginAnchor());
282 m_pcGroundSensorEquippedEntity->AddSensor(CVector2(0.03f, 0.009f),
283 CGroundSensorEquippedEntity::TYPE_GRAYSCALE,
284 m_pcEmbodiedEntity->GetOriginAnchor());
285 /* RAB equipped entity */
286 Real fRange = 0.8f;
287 GetNodeAttributeOrDefault(t_tree, "rab_range", fRange, fRange);
288 UInt32 unDataSize = 2;
289 GetNodeAttributeOrDefault(t_tree, "rab_data_size", unDataSize, unDataSize);
290 m_pcRABEquippedEntity = new CRABEquippedEntity(this,
291 "rab_0",
292 unDataSize,
293 fRange,
294 m_pcEmbodiedEntity->GetOriginAnchor(),
295 *m_pcEmbodiedEntity,
296 CVector3(0.0f, 0.0f, RAB_ELEVATION));
297 AddComponent(*m_pcRABEquippedEntity);
298 /* Battery equipped entity */
299 m_pcBatteryEquippedEntity = new CBatteryEquippedEntity(this, "battery_0");
300 if(NodeExists(t_tree, "battery"))
301 m_pcBatteryEquippedEntity->Init(GetNode(t_tree, "battery"));
302 AddComponent(*m_pcBatteryEquippedEntity);
303 /* Controllable entity
304 It must be the last one, for actuators/sensors to link to composing entities correctly */
305 m_pcControllableEntity = new CControllableEntity(this);
306 AddComponent(*m_pcControllableEntity);
307 m_pcControllableEntity->Init(GetNode(t_tree, "controller"));
308 /* Update components */
309 UpdateComponents();
310 }
311 catch(CARGoSException& ex) {
312 THROW_ARGOSEXCEPTION_NESTED("Failed to initialize entity \"" << GetId() << "\".", ex);
313 }
314 }
315
316 /****************************************/
317 /****************************************/
318
319 void CEPuckEntity::Reset() {
320 /* Reset all components */
321 CComposableEntity::Reset();
322 /* Update components */
323 UpdateComponents();
324 }
325
326 /****************************************/
327 /****************************************/
328
332
333 /****************************************/
334 /****************************************/
335
336#define UPDATE(COMPONENT) if(COMPONENT->IsEnabled()) COMPONENT->Update();
337
338 void CEPuckEntity::UpdateComponents() {
339 UPDATE(m_pcRABEquippedEntity);
340 UPDATE(m_pcLEDEquippedEntity);
341 UPDATE(m_pcBatteryEquippedEntity);
342 }
343
344 /****************************************/
345 /****************************************/
346
347 REGISTER_ENTITY(CEPuckEntity,
348 "e-puck",
349 "Carlo Pinciroli [ilpincy@gmail.com]",
350 "1.0",
351 "The e-puck robot.",
352 "The e-puck is a open-hardware, extensible robot intended for education. In its\n"
353 "simplest form, it is a two-wheeled robot equipped with proximity sensors,\n"
354 "ground sensors, light sensors, a microphone, a frontal camera, and a ring of\n"
355 "red LEDs. More information is available at http://www.epuck.org\n\n"
356 "REQUIRED XML CONFIGURATION\n\n"
357 " <arena ...>\n"
358 " ...\n"
359 " <e-puck id=\"eb0\">\n"
360 " <body position=\"0.4,2.3,0.25\" orientation=\"45,90,0\" />\n"
361 " <controller config=\"mycntrl\" />\n"
362 " </e-puck>\n"
363 " ...\n"
364 " </arena>\n\n"
365 "The 'id' attribute is necessary and must be unique among the entities. If two\n"
366 "entities share the same id, initialization aborts.\n"
367 "The 'body/position' attribute specifies the position of the pucktom point of the\n"
368 "e-puck in the arena. When the robot is untranslated and unrotated, the\n"
369 "pucktom point is in the origin and it is defined as the middle point between\n"
370 "the two wheels on the XY plane and the lowest point of the robot on the Z\n"
371 "axis, that is the point where the wheels touch the floor. The attribute values\n"
372 "are in the X,Y,Z order.\n"
373 "The 'body/orientation' attribute specifies the orientation of the e-puck. All\n"
374 "rotations are performed with respect to the pucktom point. The order of the\n"
375 "angles is Z,Y,X, which means that the first number corresponds to the rotation\n"
376 "around the Z axis, the second around Y and the last around X. This reflects\n"
377 "the internal convention used in ARGoS, in which rotations are performed in\n"
378 "that order. Angles are expressed in degrees. When the robot is unrotated, it\n"
379 "is oriented along the X axis.\n"
380 "The 'controller/config' attribute is used to assign a controller to the\n"
381 "e-puck. The value of the attribute must be set to the id of a previously\n"
382 "defined controller. Controllers are defined in the <controllers> XML subtree.\n\n"
383 "OPTIONAL XML CONFIGURATION\n\n"
384 "You can set the emission range of the range-and-bearing system. By default, a\n"
385 "message sent by an e-puck can be received up to 80cm. By using the 'rab_range'\n"
386 "attribute, you can change it to, i.e., 4m as follows:\n\n"
387 " <arena ...>\n"
388 " ...\n"
389 " <e-puck id=\"eb0\" rab_range=\"4\">\n"
390 " <body position=\"0.4,2.3,0.25\" orientation=\"45,90,0\" />\n"
391 " <controller config=\"mycntrl\" />\n"
392 " </e-puck>\n"
393 " ...\n"
394 " </arena>\n\n"
395 "You can also set the data sent at each time step through the range-and-bearing\n"
396 "system. By default, a message sent by an e-puck is 2 bytes long. By using the\n"
397 "'rab_data_size' attribute, you can change it to, i.e., 20 bytes as follows:\n\n"
398 " <arena ...>\n"
399 " ...\n"
400 " <e-puck id=\"eb0\" rab_data_size=\"20\">\n"
401 " <body position=\"0.4,2.3,0.25\" orientation=\"45,90,0\" />\n"
402 " <controller config=\"mycntrl\" />\n"
403 " </e-puck>\n"
404 " ...\n"
405 " </arena>\n\n"
406 "You can also configure the battery of the robot. By default, the battery never\n"
407 "depletes. You can choose among several battery discharge models, such as\n"
408 "- time: the battery depletes by a fixed amount at each time step\n"
409 "- motion: the battery depletes according to how the robot moves\n"
410 "- time_motion: a combination of the above models.\n"
411 "You can define your own models too. Follow the examples in the file\n"
412 "argos3/src/plugins/simulator/entities/battery_equipped_entity.cpp.\n\n"
413 " <arena ...>\n"
414 " ...\n"
415 " <e-puck id=\"eb0\"\n"
416 " <body position=\"0.4,2.3,0.25\" orientation=\"45,0,0\" />\n"
417 " <controller config=\"mycntrl\" />\n"
418 " <battery model=\"time\" factor=\"1e-5\"/>\n"
419 " </e-puck>\n"
420 " ...\n"
421 " </arena>\n\n"
422 " <arena ...>\n"
423 " ...\n"
424 " <e-puck id=\"eb0\"\n"
425 " <body position=\"0.4,2.3,0.25\" orientation=\"45,0,0\" />\n"
426 " <controller config=\"mycntrl\" />\n"
427 " <battery model=\"motion\" pos_factor=\"1e-3\"\n"
428 " orient_factor=\"1e-3\"/>\n"
429 " </e-puck>\n"
430 " ...\n"
431 " </arena>\n\n"
432 " <arena ...>\n"
433 " ...\n"
434 " <e-puck id=\"eb0\"\n"
435 " <body position=\"0.4,2.3,0.25\" orientation=\"45,0,0\" />\n"
436 " <controller config=\"mycntrl\" />\n"
437 " <battery model=\"time_motion\" time_factor=\"1e-5\"\n"
438 " pos_factor=\"1e-3\"\n"
439 " orient_factor=\"1e-3\"/>\n"
440 " </e-puck>\n"
441 " ...\n"
442 " </arena>\n\n",
443 "Under development"
444 );
445
446 /****************************************/
447 /****************************************/
448
449 REGISTER_STANDARD_SPACE_OPERATIONS_ON_COMPOSABLE(CEPuckEntity);
450
451 /****************************************/
452 /****************************************/
453
454}
UPDATE
#define UPDATE(COMPONENT)
Definition epuck_entity.cpp:336
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
Real
float Real
Collects all ARGoS code.
Definition datatypes.h:39
THROW_ARGOSEXCEPTION_NESTED
#define THROW_ARGOSEXCEPTION_NESTED(message, nested)
This macro throws an ARGoS exception with the passed message and nesting the passed exception.
Definition argos_exception.h:115
REGISTER_ENTITY
#define REGISTER_ENTITY(CLASSNAME, LABEL, AUTHOR, VERSION, BRIEF_DESCRIPTION, LONG_DESCRIPTION, STATUS)
Definition entity.h:432
argos
The namespace containing all the ARGoS related code.
Definition ci_actuator.h:12
argos::GetNodeAttributeOrDefault
void GetNodeAttributeOrDefault(TConfigurationNode &t_node, const std::string &str_attribute, T &t_buffer, const T &t_default)
Returns the value of a node's attribute, or the passed default value.
Definition argos_configuration.h:318
argos::TConfigurationNode
ticpp::Element TConfigurationNode
The ARGoS configuration XML node.
Definition argos_configuration.h:27
argos::NodeExists
bool NodeExists(TConfigurationNode &t_node, const std::string &str_tag)
Given a tree root node, returns true if one of its child nodes has the wanted name.
Definition argos_configuration.h:44
argos::GetNode
TConfigurationNode & GetNode(TConfigurationNode &t_node, const std::string &str_tag)
Given a tree root node, returns the first of its child nodes with the wanted name.
Definition argos_configuration.h:63
argos::REGISTER_STANDARD_SPACE_OPERATIONS_ON_COMPOSABLE
REGISTER_STANDARD_SPACE_OPERATIONS_ON_COMPOSABLE(CComposableEntity)
argos::CComposableEntity
Basic class for an entity that contains other entities.
Definition composable_entity.h:32
argos::CComposableEntity::Reset
virtual void Reset()
Resets the state of the entity to whatever it was after Init() or the standalone constructor was call...
Definition composable_entity.cpp:29
argos::CComposableEntity::AddComponent
void AddComponent(CEntity &c_component)
Adds a component to this composable entity.
Definition composable_entity.cpp:72
argos::CControllableEntity
An entity that contains a pointer to the user-defined controller.
Definition controllable_entity.h:26
argos::CControllableEntity::SetController
void SetController(const std::string &str_controller_id)
Creates and assigns a controller with the given id.
Definition controllable_entity.cpp:139
argos::CControllableEntity::Init
virtual void Init(TConfigurationNode &t_tree)
Initializes the state of the entity from the XML configuration tree.
Definition controllable_entity.cpp:44
argos::CEmbodiedEntity
This entity is a link to a body in the physics engine.
Definition embodied_entity.h:48
argos::CEmbodiedEntity::GetOriginAnchor
const SAnchor & GetOriginAnchor() const
Returns a const reference to the origin anchor associated to this entity.
Definition embodied_entity.h:119
argos::CEmbodiedEntity::Init
virtual void Init(TConfigurationNode &t_tree)
Initializes the state of the entity from the XML configuration tree.
Definition embodied_entity.cpp:68
argos::CEntity::GetId
const std::string & GetId() const
Returns the id of this entity.
Definition entity.h:157
argos::CEntity::Destroy
virtual void Destroy()
Destroys the entity, undoing whatever was done by Init() or by the standalone constructor.
Definition entity.h:151
argos::CEntity::Init
virtual void Init(TConfigurationNode &t_tree)
Initializes the state of the entity from the XML configuration tree.
Definition entity.cpp:40
argos::CARGoSException
The exception that wraps all errors in ARGoS.
Definition argos_exception.h:61
argos::CRadians
It defines the basic type CRadians, used to store an angle value in radians.
Definition angles.h:42
argos::CRadians::PI
static const CRadians PI
The PI constant.
Definition angles.h:49
argos::CRadians::PI_OVER_TWO
static const CRadians PI_OVER_TWO
Set to PI / 2.
Definition angles.h:59
argos::CRadians::SignedNormalize
CRadians & SignedNormalize()
Normalizes the value in the range [-PI:PI].
Definition angles.h:137
argos::CVector2
A 2D vector class.
Definition vector2.h:27
argos::CVector3
A 3D vector class.
Definition vector3.h:31
argos::CVector3::RotateZ
CVector3 & RotateZ(const CRadians &c_angle)
Rotates this vector wrt the z axis.
Definition vector3.h:287
argos::CVector3::Set
void Set(const Real f_x, const Real f_y, const Real f_z)
Sets the vector contents from Cartesian coordinates.
Definition vector3.h:155
argos::CEPuckEntity::Init
virtual void Init(TConfigurationNode &t_tree)
Initializes the state of the entity from the XML configuration tree.
Definition epuck_entity.cpp:192
argos::CEPuckEntity::Reset
virtual void Reset()
Resets the state of the entity to whatever it was after Init() or the standalone constructor was call...
Definition epuck_entity.cpp:319
argos::CEPuckEntity::UpdateComponents
virtual void UpdateComponents()
Calls the Update() method on all the components.
Definition epuck_entity.cpp:338
argos::CEPuckEntity::Destroy
virtual void Destroy()
Destroys the entity, undoing whatever was done by Init() or by the standalone constructor.
Definition epuck_entity.cpp:329
argos::CBatteryEquippedEntity::Init
virtual void Init(TConfigurationNode &t_tree)
Initializes the state of the entity from the XML configuration tree.
Definition battery_equipped_entity.cpp:68
argos::CGroundSensorEquippedEntity::AddSensor
void AddSensor(const CVector2 &c_offset, ESensorType e_type, SAnchor &s_anchor)
Definition ground_sensor_equipped_entity.cpp:130
argos::CLEDEquippedEntity
A container of CLEDEntity.
Definition led_equipped_entity.h:36
argos::CLEDEquippedEntity::AddLEDRing
void AddLEDRing(const CVector3 &c_center, Real f_radius, const CRadians &c_start_angle, UInt32 un_num_leds, SAnchor &s_anchor, const CColor &c_color=CColor::BLACK)
Adds a ring of LEDs to this entity.
Definition led_equipped_entity.cpp:148
argos::CLightSensorEquippedEntity::AddSensorRing
void AddSensorRing(const CVector3 &c_center, Real f_radius, const CRadians &c_start_angle, Real f_range, UInt32 un_num_sensors, SAnchor &s_anchor)
Definition light_sensor_equipped_entity.cpp:154
argos::CProximitySensorEquippedEntity::AddSensor
void AddSensor(const CVector3 &c_offset, const CVector3 &c_direction, Real f_range, SAnchor &s_anchor)
Definition proximity_sensor_equipped_entity.cpp:144
argos::CWheeledEntity::SetWheel
void SetWheel(UInt32 un_index, const CVector3 &c_position, Real f_radius)
Definition wheeled_entity.cpp:62