void CCI_HandBotState::Init() {
CCI_SwarmanoidRobotState::Init();
/////////////////////////////////////////////////////////////////
// INITIALIZE ALL THE SENSORS DECLARED IN THE XML CONFIGURATION
/////////////////////////////////////////////////////////////////
TSensorMap mapSensors = m_pcRobot->GetAllSensors();
TSensorMap::const_iterator itSensors;
SENSOR_INIT_HELPER(ARM_ENCODERS_SENSOR_XML_NAME, CCI_HandBotArmEncodersSensor, m_pcArmEncodersSensor, m_bIsUsingArmEncodersSensor);
SENSOR_INIT_HELPER(PROXIMITY_SENSORS_XML_NAME, CCI_HandBotProximitySensor, m_pcProximitySensor, m_bIsUsingProximitySensor);
SENSOR_INIT_HELPER(GRIPPER_CAMERAS_XML_NAME, CCI_HandBotGripperCameras, m_pcGripperCameras, m_bIsUsingGripperCameras);
SENSOR_INIT_HELPER(HEAD_CAMERA_XML_NAME, CCI_HandBotHeadCameraSensor, m_pcHeadCamera, m_bIsUsingHeadCamera);
///////////////////////////////////////////////////////////////////
// INITIALIZE ALL THE ACTUATORS DECLARED IN THE XML CONFIGURATION
///////////////////////////////////////////////////////////////////
TActuatorMap mapActuators = m_pcRobot->GetAllActuators();
TActuatorMap::const_iterator itActuators;
ACTUATOR_INIT_HELPER(BEACON_ACTUATOR_XML_NAME, CCI_HandBotBeaconLedsActuator, m_pcBeaconActuator, m_bIsUsingBeacon);
ACTUATOR_INIT_HELPER(LEDS_ACTUATOR_XML_NAME, CCI_HandBotLedsActuator, m_pcLedsActuator, m_bIsUsingLeds);
ACTUATOR_INIT_HELPER(ARMS_ACTUATOR_XML_NAME, CCI_HandBotArmsActuator, m_pcArmsActuator, m_bIsUsingArms);
ACTUATOR_INIT_HELPER(RETRIEVE_BOOK_ACTUATOR_XML_NAME, CCI_HandBotRetrieveBookActuator, m_pcRetrieveBookActuator, m_bIsUsingRetrieveBookActuator);
}
void CCI_SwarmanoidRobotState::Init(){
CCI_RobotState::Init();
/////////////////////////////////////////////////////////////////
// INITIALIZE ALL THE SENSORS DECLARED IN THE XML CONFIGURATION
/////////////////////////////////////////////////////////////////
TSensorMap mapSensors = m_pcRobot->GetAllSensors();
TSensorMap::const_iterator itSensors;
SENSOR_INIT_HELPER(RAB_SENSOR_XML_NAME, CCI_RangeAndBearingSensor, m_pcRABSensor, m_bIsUsingRABSensor);
SENSOR_INIT_HELPER(BATTERY_SENSOR_XML_NAME, CCI_BatterySensor, m_pcBatterySensor, m_bIsUsingBatterySensor);
//Initialize misc sensors variables
if (m_bIsUsingBatterySensor) {
m_fBatteryMinSafeValue = m_pcBatterySensor->GetMinSafeValue();
}
///////////////////////////////////////////////////////////////////
// INITIALIZE ALL THE ACTUATORS DECLARED IN THE XML CONFIGURATION
///////////////////////////////////////////////////////////////////
TActuatorMap mapActuators = m_pcRobot->GetAllActuators();
TActuatorMap::const_iterator itActuators;
ACTUATOR_INIT_HELPER(RAB_ACTUATOR_XML_NAME, CCI_RangeAndBearingActuator, m_pcRABActuator, m_bIsUsingRABActuator);
}
void CCI_FootBotState::Init()
{
CCI_SwarmanoidRobotState::Init();
///////////////////////////////////////////////////////////////////
// INITIALIZE ALL THE SENSORS DECLARED IN THE XML CONFIGURATION
///////////////////////////////////////////////////////////////////
TSensorMap mapSensors = m_pcRobot->GetAllSensors();
TSensorMap::const_iterator itSensors;
SENSOR_INIT_HELPER(BASE_GROUND_SENSOR_XML_NAME, CCI_FootBotBaseGroundSensor, m_pcBaseGroundSensor, m_bIsUsingBaseGroundSensor);
SENSOR_INIT_HELPER(PROXIMITY_SENSORS_XML_NAME, CCI_FootBotProximitySensor, m_pcProximitySensor, m_bIsUsingProximitySensor);
SENSOR_INIT_HELPER(DISTANCE_SCANNER_SENSOR_XML_NAME, CCI_FootBotDistanceScannerSensor, m_pcDistanceScannerSensor, m_bIsUsingDistanceScannerSensor);
SENSOR_INIT_HELPER(ENCODER_SENSOR_XML_NAME, CCI_FootBotEncoderSensor, m_pcEncoderSensor, m_bIsUsingEncoderSensor);
SENSOR_INIT_HELPER(LIGHT_SENSOR_XML_NAME, CCI_FootBotLightSensor, m_pcLightSensor, m_bIsUsingLightSensor);
SENSOR_INIT_HELPER(MOTOR_GROUND_SENSOR_XML_NAME, CCI_FootBotMotorGroundSensor, m_pcMotorGroundSensor, m_bIsUsingMotorGroundSensor);
SENSOR_INIT_HELPER(WHEEL_SPEED_SENSOR_XML_NAME, CCI_FootBotWheelSpeedSensor, m_pcWheelSpeedSensor, m_bIsUsingWheelSpeedSensor);
SENSOR_INIT_HELPER(TURRET_TORQUE_SENSOR_XML_NAME, CCI_FootBotTurretTorqueSensor, m_pcTurretTorqueSensor, m_bIsUsingTurretTorqueSensor);
SENSOR_INIT_HELPER(TURRET_ENCODER_SENSOR_XML_NAME, CCI_FootBotTurretEncoderSensor, m_pcTurretEncoderSensor, m_bIsUsingTurretEncoderSensor);
SENSOR_INIT_HELPER(GRIPPER_SENSOR_XML_NAME, CCI_FootBotGripperSensor, m_pcGripperSensor, m_bIsUsingGripperSensor);
SENSOR_INIT_HELPER(CEILING_CAMERA_SENSOR_XML_NAME, CCI_FootBotCeilingCameraSensor, m_pcCeilingCameraSensor, m_bIsUsingCeilingCameraSensor);
SENSOR_INIT_HELPER(OMNIDIRECTIONAL_CAMERA_SENSOR_XML_NAME, CCI_FootBotOmnidirectionalCameraSensor, m_pcOmnidirectionalCameraSensor, m_bIsUsingOmnidirectionalCameraSensor);
///////////////////////////////////////////////////////////////////
// INITIALIZE SENSOR RELATED VARIABLES
///////////////////////////////////////////////////////////////////
//Sensor angles
if (m_bIsUsingLightSensor)
m_tLightSensorReadings = &m_pcLightSensor->GetReadings();
if (m_bIsUsingCeilingCameraSensor)
m_pcCeilingCameraSensor->Enable();
if (m_bIsUsingOmnidirectionalCameraSensor)
m_pcOmnidirectionalCameraSensor->Enable();
///////////////////////////////////////////////////////////////////
// INITIALIZE ALL THE ACTUATORS DECLARED IN THE XML CONFIGURATION
///////////////////////////////////////////////////////////////////
TActuatorMap mapActuators = m_pcRobot->GetAllActuators();
TActuatorMap::const_iterator itActuators;
ACTUATOR_INIT_HELPER(BEACON_ACTUATOR_XML_NAME, CCI_FootBotBeaconActuator, m_pcBeaconActuator, m_bIsUsingBeacon);
ACTUATOR_INIT_HELPER(WHEELS_ACTUATOR_XML_NAME, CCI_FootBotWheelsActuator, m_pcWheelsActuator, m_bIsUsingWheelsActuator);
ACTUATOR_INIT_HELPER(GRIPPER_ACTUATOR_XML_NAME, CCI_FootBotGripperActuator, m_pcGripperActuator, m_bIsUsingGripperActuator);
ACTUATOR_INIT_HELPER(LEDS_ACTUATOR_XML_NAME, CCI_FootBotLedsActuator, m_pcLedsActuator, m_bIsUsingLeds);
ACTUATOR_INIT_HELPER(TURRET_ACTUATOR_XML_NAME, CCI_FootBotTurretActuator, m_pcTurretActuator, m_bIsUsingTurretActuator);
ACTUATOR_INIT_HELPER(DISTANCE_SCANNER_ACTUATOR_XML_NAME, CCI_FootBotDistanceScannerActuator, m_pcDistanceScannerActuator, m_bIsUsingDistanceScannerActuator);
}
