void CEPuckRangeAndBearingSensor::Update() {
/* Clear the previous received packets */
ClearRABReceivedPackets();
/* Get robot position */
const CVector3& cRobotPosition = m_pcEmbodiedEntity->GetPosition();
/* Get robot orientation */
CRadians cTmp1, cTmp2, cOrientationZ;
m_pcEmbodiedEntity->GetOrientation().ToEulerAngles(cOrientationZ, cTmp1, cTmp2);
/* Buffer for calculating the message--robot distance */
CVector3 cVectorToMessage;
CVector3 cVectorRobotToMessage;
Real fMessageDistance;
/* Buffer for the received packet */
TEPuckRangeAndBearingReceivedPacket tPacket;
/* Initialize the occlusion check ray start to the position of the robot */
CRay cOcclusionCheckRay;
cOcclusionCheckRay.SetStart(cRobotPosition);
/* Buffer to store the intersection data */
CSpace::SEntityIntersectionItem<CEmbodiedEntity> sIntersectionData;
/* Ignore the sensing robot when checking for occlusions */
TEmbodiedEntitySet tIgnoreEntities;
tIgnoreEntities.insert(m_pcEmbodiedEntity);
/*
* 1. Go through all the CRABEquippedEntities<2> (those compatible with this sensor)
* 2. For each of them
* a) Check that the receiver is not out of range
* b) Check if there is an occlusion
* c) If there isn't, get the info and set reading for that robot
*/
CSpace::TAnyEntityMap& tEntityMap = m_cSpace.GetEntitiesByType("rab_equipped_entity<2>");
for(CSpace::TAnyEntityMap::iterator it = tEntityMap.begin();
it != tEntityMap.end();
++it) {
CRABEquippedEntity<2>& cRABEntity = *(any_cast<CRABEquippedEntity<2>*>(it->second));
/* Check the RAB equipped entity is not this robot (avoid self-messaging) */
if(&cRABEntity != m_pcRABEquippedEntity) {
/* Get the position of the RAB equipped entity */
cVectorToMessage = cRABEntity.GetPosition();
cVectorRobotToMessage = (cVectorToMessage - cRobotPosition) * 100; // in cms
/* Check that the distance is lower than the range */
fMessageDistance = cVectorRobotToMessage.Length();
if(fMessageDistance < cRABEntity.GetRange()) {
/* Set the ray end */
cOcclusionCheckRay.SetEnd(cVectorToMessage);
/* Check occlusion between robot and message location */
if(!m_bCheckOcclusions ||
(! m_cSpace.GetClosestEmbodiedEntityIntersectedByRay(sIntersectionData, cOcclusionCheckRay, tIgnoreEntities)) ||
sIntersectionData.IntersectedEntity->GetId() == cRABEntity.GetId()) {
/* The message is not occluded */
if(m_bShowRays) m_pcControllableEntity->AddCheckedRay(false, cOcclusionCheckRay);
/* Set the reading */
tPacket.Id = m_unLatestPacketId++;
CRadians cVertical = CRadians::ZERO;
cVectorRobotToMessage.ToSphericalCoordsHorizontal(tPacket.Range,
cVertical,
tPacket.BearingHorizontal);
tPacket.BearingHorizontal -= cOrientationZ;
tPacket.BearingHorizontal.SignedNormalize();
cRABEntity.GetData(tPacket.Data);
m_tLastReceivedPackets.push_back(tPacket);
}
else {
/* The message is occluded */
if(m_bShowRays) {
m_pcControllableEntity->AddCheckedRay(true, cOcclusionCheckRay);
m_pcControllableEntity->AddIntersectionPoint(cOcclusionCheckRay, sIntersectionData.TOnRay);
}
}
}
}
}
}
