00001 /* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*- 00002 00003 this file is part of rcssserver3D 00004 Fri May 9 2003 00005 Copyright (C) 2002,2003 Koblenz University 00006 Copyright (C) 2003 RoboCup Soccer Server 3D Maintenance Group 00007 $Id: visionperceptor.h,v 1.6 2004/07/21 08:53:02 rollmark Exp $ 00008 00009 This program is free software; you can redistribute it and/or modify 00010 it under the terms of the GNU General Public License as published by 00011 the Free Software Foundation; version 2 of the License. 00012 00013 This program is distributed in the hope that it will be useful, 00014 but WITHOUT ANY WARRANTY; without even the implied warranty of 00015 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00016 GNU General Public License for more details. 00017 00018 You should have received a copy of the GNU General Public License 00019 along with this program; if not, write to the Free Software 00020 Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. 00021 */ 00022 #ifndef VISIONPERCEPTOR_H 00023 #define VISIONPERCEPTOR_H 00024 00025 #include <salt/random.h> 00026 #include <oxygen/agentaspect/perceptor.h> 00027 #include <oxygen/physicsserver/raycollider.h> 00028 #include <oxygen/sceneserver/sceneserver.h> 00029 #include <oxygen/sceneserver/transform.h> 00030 #include <soccer/agentstate/agentstate.h> 00031 00032 class VisionPerceptor : public oxygen::Perceptor 00033 { 00034 protected: 00035 typedef boost::shared_ptr<salt::NormalRNG<> > NormalRngPtr; 00036 00037 struct ObjectData 00038 { 00039 boost::shared_ptr<ObjectState> mObj; 00040 00041 float mTheta; // angle in the X-Y (horizontal) plane 00042 float mPhi; // latitude angle 00043 float mDist; // distance between perceptor and object 00044 salt::Vector3f mRelPos; 00045 00046 ObjectData& operator=(const ObjectData& rhs) 00047 { 00048 mObj = rhs.mObj; 00049 mRelPos = rhs.mRelPos; 00050 mTheta = rhs.mTheta; 00051 mPhi = rhs.mPhi; 00052 mDist = rhs.mDist; 00053 } 00054 00055 int operator==(const ObjectData& rhs) const 00056 { return mDist == rhs.mDist; } 00057 int operator<(const ObjectData& rhs) const 00058 { return mDist < rhs.mDist; } 00059 }; 00060 00061 typedef std::list<ObjectData> TObjectList; 00062 00063 public: 00064 VisionPerceptor(); 00065 virtual ~VisionPerceptor(); 00066 00068 bool Percept(boost::shared_ptr<oxygen::PredicateList> predList); 00069 00084 void SetNoiseParams(float sigma_dist, float sigma_phi, 00085 float sigma_theta, float cal_error_abs); 00086 00088 void SetSenseMyPos(bool sense); 00089 00093 void AddNoise(bool add_noise); 00094 00098 void UseRandomNoise(bool random_noise); 00099 00101 void SetStaticSenseAxis(bool static_axis); 00102 00103 protected: 00105 virtual bool ConstructInternal(); 00106 00108 void SetupVisibleObjects(TObjectList& visibleObjects); 00109 00111 bool StaticAxisPercept(boost::shared_ptr<oxygen::PredicateList> predList); 00112 00116 bool DynamicAxisPercept(boost::shared_ptr<oxygen::PredicateList> predList); 00117 00119 bool CheckOcclusion(const salt::Vector3f& my_pos, const ObjectData& od) const; 00120 00123 void AddSense(oxygen::Predicate& predicate, ObjectData& od) const; 00124 00126 void VisionPerceptor::ApplyNoise(ObjectData& od) const; 00127 00128 virtual void OnLink(); 00129 virtual void OnUnlink(); 00130 00131 protected: 00133 salt::Vector3f mError; 00134 00136 bool mSenseMyPos; 00137 00139 float mSigmaDist; 00141 float mSigmaTheta; 00143 float mSigmaPhi; 00145 float mCalErrorAbs; 00147 bool mAddNoise; 00149 bool mUseRandomNoise; 00150 00154 bool mStaticSenseAxis; 00155 00157 boost::shared_ptr<oxygen::RayCollider> mRay; 00158 00160 NormalRngPtr mDistRng; 00162 NormalRngPtr mThetaRng; 00164 NormalRngPtr mPhiRng; 00165 00166 boost::shared_ptr<oxygen::Scene> mActiveScene; 00168 boost::shared_ptr<oxygen::Transform> mTransformParent; 00170 boost::shared_ptr<oxygen::SceneServer> mSceneServer; 00172 boost::shared_ptr<AgentState> mAgentState; 00173 }; 00174 00175 DECLARE_CLASS(VisionPerceptor); 00176 00177 #endif //VISIONPERCEPTOR_H