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); }