The class modelling an arena. More...

Inheritance diagram for Arena:

Public Member Functions
	Arena (ConfigurationParameters &params, QString prefix)
	Constructor.

virtual	~Arena ()
	Destructor.

void	addRobots (QStringList robots)
	Adds robots to the list of 2D objects.

Cylinder2DWrapper *	createBigCylinder (QColor color, real height=-1.0)
	Creates a big cylinder.

Cylinder2DWrapper *	createCircularTargetArea (real radius, QColor color)
	Creates a circular target area.

Box2DWrapper *	createRectangularTargetArea (real width, real depth, QColor color)
	Creates a rectangular target area.

Cylinder2DWrapper *	createSmallCylinder (QColor color, real height=-1.0)
	Creates a small cylinder.

Box2DWrapper *	createWall (QColor color, wVector start, wVector end, real thickness, real height=-1.0)
	Creates a wall.

bool	delete2DObject (PhyObject2DWrapper *obj)
	Deletes an object.

real	getHeight () const
	Returns the height of the main plane.

QVector< PhyObject2DWrapper * >	getKinematicRobotCollisions (WheeledRobot2DWrapper *robot) const
	Returns the list of objects that collided with the given kinematic robot at the previous timestep.

QVector< PhyObject2DWrapper * >	getKinematicRobotCollisions (QString robotResourceName) const
	Returns the list of objects that collided with the given kinematic robot at the previous timestep.

const QVector < PhyObject2DWrapper * > &	getObjects () const
	Returns the list of 2D objects.

Box2DWrapper *	getPlane ()
	Returns the plane of the arena.

const Box2DWrapper *	getPlane () const
	Returns the plane of the arena (const version)

const WheeledRobot2DWrapper *	getRobotWrapper (QString robotName) const
	Returns a pointer to the wrapper of a robot given the robot resource name.

real	getWidth () const
	Returns the width of the main plane.

real	getZ () const
	Returns the z of the plane.

void	handleKinematicRobotCollisions ()
	Checks collisions of kinematic robots.

void	prepareToHandleKinematicRobotCollisions ()
	Call this before advancing the world to prepare stuffs needed by a call to handleKinematicRobotCollisions()

virtual void	save (ConfigurationParameters &params, QString prefix)
	Saves the actual status of parameters into the ConfigurationParameters object passed.

Public Member Functions inherited from ParameterSettableInConstructor
	ParameterSettableInConstructor (ConfigurationParameters &, QString)

void	addObserver (RuntimeParameterObserver *obs)

T	getRuntimeParameter (QString paramName)

virtual ParameterSettableUI *	getUIManager ()

	ParameterSettable ()

virtual void	postConfigureInitialization ()

void	removeObserver (RuntimeParameterObserver *obs)

void	setRuntimeParameter (QString paramName, T newvalue)

QString	typeName () const

Public Member Functions inherited from ParameterSettable
void	addObserver (RuntimeParameterObserver *obs)

T	getRuntimeParameter (QString paramName)

void	removeObserver (RuntimeParameterObserver *obs)

void	setRuntimeParameter (QString paramName, T newvalue)

QString	typeName () const

Public Member Functions inherited from ConcurrentResourcesUser
void	addUsableResource (QString resource)

void	addUsableResources (QStringList resources)

void	declareResource (QString name, T *resource, QString lockBuddy="")

void	deleteResource (QString name)

T *	getResource (QString name, bool *resourceExists=NULL)

bool	hasResource (QString name) const

void	removeAllUsableResources ()

void	removeUsableResource (QString resource)

void	removeUsableResources (QStringList resources)

virtual void	shareResourcesWith (ResourcesUser *buddy)

void	usableResources (QStringList resources)

bool	usedResourcesExist (QStringList *nonExistingResources=NULL) const

Static Public Member Functions
static void	describe (QString type)
	Adds to Factory::typeDescriptions() the descriptions of all parameters and subgroups.

Static Public Member Functions inherited from ParameterSettableInConstructor
static void	describe (QString type)

static QString	fullParameterDescriptionPath (QString type, QString param)

static QString	fullSubgroupDescriptionPath (QString type, QString sub)

Static Public Member Functions inherited from ParameterSettable
static void	describe (QString type)

static QString	fullParameterDescriptionPath (QString type, QString param)

static QString	fullSubgroupDescriptionPath (QString type, QString sub)

Additional Inherited Members
Public Types inherited from ParameterSettableInConstructor
enum	Property

Public Types inherited from ConcurrentResourcesUser
typedef Resource::ResourceChangeType	ResourceChangeType

Public Attributes inherited from ParameterSettableInConstructor
	AllowMultiple

	Default

	IsList

	IsMandatory

Static Public Attributes inherited from ParameterSettableInConstructor
static const double	Infinity

static const int	MaxInteger

static const int	MinInteger

Protected Member Functions inherited from ParameterSettableInConstructor
void	notifyChangesToParam (QString paramName)

Protected Member Functions inherited from ConcurrentResourcesUser
T *	getResource ()

ResourcesUser &	operator= (const ResourcesUser &other)

	ResourcesUser ()

	ResourcesUser (const ResourcesUser &other)

Static Protected Member Functions inherited from ParameterSettableInConstructor
static Descriptor	addTypeDescription (QString type, QString shortHelp, QString longHelp=QString(""))

static void	setGraphicalEditor (QString type)

Protected Attributes inherited from ConcurrentResourcesUser
ResourceCollectionHolder	m_resources

Detailed Description

The class modelling an arena.

This class contains functions to create and manipulate an arena, which is used mostly in simulations with wheeled robots. The arena always has a plane at the given height, you can add more planes at different heights and you can connected different planes with ramps. Planes are perpendicular to the Z axis. The dimension of the main plane and its Z position can only be set via configuration parameters and are fixed.

Definition at line 47 of file arena.h.

Constructor & Destructor Documentation

Arena	(	ConfigurationParameters &	params,
		QString	prefix
	)

Constructor.

Parameters

params	the configuration parameters object with parameters to use
prefix	the prefix to use to access the object configuration parameters. This is guaranteed to end with the separator character when called by the factory, so you don't need to add one

Definition at line 77 of file arena.cpp.

References ConcurrentResourcesUser::usableResources().

~Arena ( )

virtual

Destructor.

Definition at line 93 of file arena.cpp.

Member Function Documentation

void addRobots ( QStringList robots )

Adds robots to the list of 2D objects.

This function adds the given robots to the list of 2D objects so that they can be perceived by the sensors of other robots (like, e.g. the linear camera)

Parameters

robots the name of the resources with robots

Definition at line 120 of file arena.cpp.

References ConcurrentResourcesUser::addUsableResources(), RobotOnPlane::robotHeight(), and RobotOnPlane::robotRadius().

Referenced by EvoRobotExperiment::configure(), and EvoRobotExperiment::recreateArena().

Cylinder2DWrapper * createBigCylinder	(	QColor	color,
		real	height = `-1.0`
	)

Creates a big cylinder.

The cylinder has a fixed radius. You can specify its color and height

Parameters

color	the color of the cylinder
height	the height of the wall. If negative the default height for objects is used

Returns: the new object

Definition at line 207 of file arena.cpp.

Cylinder2DWrapper * createCircularTargetArea	(	real	radius,
		QColor	color
	)

Creates a circular target area.

The target area is placed on the ground and is detectable by ground sensors

Parameters

radius	the radius of the area
color	the color of the area

Returns: the new object

Definition at line 212 of file arena.cpp.

References PhyCylinder::matrix(), Cylinder2DWrapper::phyObject(), PhyCylinder::setMaterial(), PhyCylinder::setMatrix(), and wMatrix::w_pos.

Box2DWrapper * createRectangularTargetArea	(	real	width,
		real	depth,
		QColor	color
	)

Creates a rectangular target area.

The target area is placed on the ground and is detectable by ground sensors

Parameters

width	the width of the area
depth	the depth of the area
color	the color of the area

Returns: the new object

Definition at line 227 of file arena.cpp.

References PhyBox::matrix(), Box2DWrapper::phyObject(), PhyBox::setMaterial(), PhyBox::setMatrix(), and wMatrix::w_pos.

Cylinder2DWrapper * createSmallCylinder	(	QColor	color,
		real	height = `-1.0`
	)

Creates a small cylinder.

The cylinder has a fixed radius. You can specify its color and height

Parameters

color	the color of the cylinder
height	the height of the wall. If negative the default height for objects is used

Returns: the new object

Definition at line 202 of file arena.cpp.

Box2DWrapper * createWall	(	QColor	color,
		wVector	start,
		wVector	end,
		real	thickness,
		real	height = `-1.0`
	)

Creates a wall.

The wall is created using a starting point and an ending point. The z component of the vectors for the starting point and the ending point are discarded. If you imagine the wall as a rectangle, the starting point and the ending point are in the middle of two opposite sides. The wall also have a thickness and an height

Parameters

color	the color of the wall
start	the starting point of the wall. The Z coordinate of the vector is discarded
end	the ending point of the wall. The Z component is discarded
thickness	the thickness of the wall
height	the height of the wall. If negative the default height for objects is used

Returns: the new object

Definition at line 179 of file arena.cpp.

References PhyBox::matrix(), Box2DWrapper::phyObject(), wMatrix::roll(), PhyBox::setMatrix(), PhyObject2DWrapper::setTexture(), wMatrix::w_pos, and wVectorT< Shared >::z.

bool delete2DObject ( PhyObject2DWrapper * obj )

Deletes an object.

This deletes the wrapper and the underlying physical object. This also takes care of removing the object from the list of 2D objects of the arena. If the object is not in the arena, this does nothing and returns false

Warning: You should NEVER pass a robot to this function. If you do, the function does nothing and returns false

Parameters

obj	the object to delete

Returns: true if the object is deleted, false if the object is not in the arena

Definition at line 242 of file arena.cpp.

References PhyObject2DWrapper::phyObject().

void describe ( QString type )

static

Adds to Factory::typeDescriptions() the descriptions of all parameters and subgroups.

Parameters

type the name of the type regarding the description. The type is used when a subclass reuses the description of its parent calling the parent describe method passing the type of the subclass. In this way, the result of the method describe of the parent will be the addition of the description of the parameters of the parent class into the type of the subclass

Definition at line 107 of file arena.cpp.

References ParameterSettableInConstructor::addTypeDescription(), ParameterSettable::RealDescriptor::def(), ParameterSettable::Descriptor::describeReal(), ParameterSettable::RealDescriptor::help(), ParameterSettableInConstructor::Infinity, and ParameterSettable::RealDescriptor::limits().

real getHeight ( ) const

inline

Returns the height of the main plane.

Returns: the height of the main plane

Definition at line 128 of file arena.h.

QVector< PhyObject2DWrapper * > getKinematicRobotCollisions ( WheeledRobot2DWrapper * robot ) const

Returns the list of objects that collided with the given kinematic robot at the previous timestep.

Parameters

robot the robot whose collisions are requested

Returns: the list of objects that collided with the given robot at the previous timestep. The list is empty if the robot had no collisions or the robot is not in the list

Note: This only works for robots that are kinematic!!!

Definition at line 323 of file arena.cpp.

Referenced by Arena::getKinematicRobotCollisions().

QVector< PhyObject2DWrapper * > getKinematicRobotCollisions ( QString robotResourceName ) const

Returns the list of objects that collided with the given kinematic robot at the previous timestep.

Parameters

robotResourceName the name of the resource of the robot whose collisions are requested

Returns: the list of objects that collided with the given robot at the previous timestep. The list is empty if the robot had no collisions or the robot is not in the list

Note: This only works for robots that are kinematic!!!

Definition at line 328 of file arena.cpp.

References Arena::getKinematicRobotCollisions().

const QVector<PhyObject2DWrapper*>& getObjects ( ) const

inline

Returns the list of 2D objects.

Returns: the list of 2D objects

Definition at line 98 of file arena.h.

Referenced by LinearCamera::update(), KheperaSampledProximityIRSensor::update(), EpuckSampledProximityIRSensor::update(), and MarXbotSampledProximityIRSensor::update().

Box2DWrapper * getPlane ( )

Returns the plane of the arena.

Returns: the plane of the arena

Definition at line 169 of file arena.cpp.

Referenced by Box2DWrapper::computeDistanceAndOrientationFromRobot(), Cylinder2DWrapper::computeDistanceAndOrientationFromRobot(), WheeledRobot2DWrapper::computeDistanceAndOrientationFromRobot(), KheperaSampledProximityIRSensor::update(), EpuckSampledProximityIRSensor::update(), and MarXbotSampledProximityIRSensor::update().

const Box2DWrapper * getPlane ( ) const

Returns the plane of the arena (const version)

Returns: the plane of the arena

Definition at line 174 of file arena.cpp.

const WheeledRobot2DWrapper * getRobotWrapper ( QString robotName ) const

Returns a pointer to the wrapper of a robot given the robot resource name.

Parameters

robotName the name of the resource for the robot

Returns: the wrapper for the robot with the given resource or NULL if no wrapper exists for the given robot

Definition at line 160 of file arena.cpp.

Referenced by KheperaSampledProximityIRSensor::update(), EpuckSampledProximityIRSensor::update(), and MarXbotSampledProximityIRSensor::update().

real getWidth ( ) const

inline

Returns the width of the main plane.

Returns: the width of the main plane

Definition at line 118 of file arena.h.

real getZ ( ) const

inline

Returns the z of the plane.

Returns: the z of the plane

Definition at line 108 of file arena.h.

void handleKinematicRobotCollisions ( )

Checks collisions of kinematic robots.

This function checks collisions of kinematic robots with walls, other robots and objects. If a robot collides with something else, it is moved back to the position and orientation it had in the previous timestep. This is not very accurate but it is fast.

Definition at line 277 of file arena.cpp.

References PhyObject2DWrapper::computeDistanceAndOrientationFromRobot(), RobotOnPlane::isKinematic(), WheeledRobot2DWrapper::previousMatrix(), WheeledRobot2DWrapper::robotOnPlane(), WObject::setMatrix(), and WheeledRobot2DWrapper::wObject().

void prepareToHandleKinematicRobotCollisions ( )

Call this before advancing the world to prepare stuffs needed by a call to handleKinematicRobotCollisions()

This function has to be called before world advance if you plan to use the handleKinematicRobotCollisions() afterward. What it actually does is storing the previous robot position.

Definition at line 260 of file arena.cpp.

References RobotOnPlane::isKinematic(), WheeledRobot2DWrapper::robotOnPlane(), and WheeledRobot2DWrapper::storePreviousMatrix().