ray_sensor.H

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// Copyright (C) 2003, 2004 Suresh Golconda, Nitin, Arun Pratap

#ifndef CAJUN_RAY_SENSOR_H
#define CAJUN_RAY_SENSOR_H

#define DELAY_RAY_SENSOR 0.1

#include "sim_world_object.H"
#include "queue_generator.H"
#include "components.H"
#include "timer.H"

namespace cajun
{
class ray_sensor_observer_t;

class ray_sensor_t: public components_t
{
        friend class ray_sensor_observer_t;
public:
        // Functions
        ray_sensor_t (dSpaceID s1,dGeomID ground, sim_world_object_t *object,
                     timer_t * timer, int id, double length, double pos[3],
                     double  orientation[3]);

        virtual ~ray_sensor_t ();

        void test_ray_sensor_collision (double *px,double *py, double *pz);
        void get_orientation_matrix (double orientation_matrix[3][4]);
        void get_ray_beam_position (double start_position[3],double end_position[3]);
        void update_position ();
        void update_position (dBodyID carb);
        void simulate_component ();
        void command (int cmd, double value);
private:
        dGeomID m_raySensor_ray;
        double m_end_pos[3];
        double m_raySensorRange;
        double m_raySensorDepth; // depth that sensor detected

        dGeomID m_thisGround;
        dSpaceID m_thisSpace;
        sim_world_object_t *m_robot;
        ray_sensor_observer_t *m_ray_sensor_observer;

        int m_ray_sensor_id;
};

class ray_sensor_observer_t : public timer_t::observer_t
{
public:
        ray_sensor_observer_t (ray_sensor_t *ray_sensor ,
                               double interval_v, int id);
        bool timeout (double currTime);
        virtual ~ray_sensor_observer_t ();
private:
        ray_sensor_t *m_ray_sensor;
        int m_ray_sensor_id;
};
};
#endif

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