argos3-simulator

Posted 2021-01-18 snowdwq

如何修改控制器：

CVector2：

 class CVector2 {
   
   friend class CRotationMatrix2;
   friend class CTransformationMatrix2;

   public:

      /** The <em>x</em> axis */
      static const CVector2 X;

      /** The <em>y</em> axis */
      static const CVector2 Y;

      /**
       * Class constructor.
       * It initializes the vector to (0,0).
       * @see ZERO
       */
      CVector2() :
         m_fX(0.0),
         m_fY(0.0) {
      }

      /**
       * Class constructor.
       * It initializes the vector from Cartesian coordinates.
       * @param f_x The <em>x</em> coordinate.
       * @param f_y The <em>y</em> coordinate.
       * @see Set()
       */
      CVector2(Real f_x,
               Real f_y) :
         m_fX(f_x),
         m_fY(f_y) {
      }
     /**
       * Sums the passed vector to this vector.
       * @param c_vector2 The other vector.
       * @returns A reference to this vector.
       */
      inline CVector2& operator+=(const CVector2& c_vector2) {
         m_fX += c_vector2.m_fX;
         m_fY += c_vector2.m_fY;
         return *this;
      }

......

};

 1  struct SReading {
 2          CRadians Angle;
 3          Real Distance; // in cm from the center of the robot (about 10cm from the border)
 4 
 5          SReading() :
 6             Angle(0.0f),
 7             Distance(0.0f) {}
 8 
 9          SReading(const CRadians& c_angle,
10                   Real f_distance) :
11             Angle(c_angle),
12             Distance(f_distance) {
13          }
14       };
15   typedef std::vector<SReading> TReadings;

参考：https://git.mistlab.ca/isvogor/e-pucky/tree/260fc947afde2a04132b71c79d4204629419b576/swarms/controllers/cpp/collision_avoidance

锁定修改文件：footbot_diffusion_reference.cpp

读懂每个文件的函数意义：

Swarmanoid hardware

Foot-bots

 

The foot-bot is a particular configuration of modules based on the marXbot robotic platform. The foot-bot configuration includes a top CPU and vision module, a distance scnaner, a range and bearing module, a self-assembling module and a basic (mobility & battery) module.

 

Foot-bot Features:

 

• Compact size: 直径17 cm x 29 cm, 1.8 kg
• Modular system
• High computational power including float processing
• Distance scanner measuring distance up to 1.5m
• Two cameras, one mounted as omnicamera
• Self-assembling mechanism
• Hot-swappable battery
• Treel mobility system

IR-sensor:https://www.electronicshub.org/ir-sensor/

有8个IR-sensor，搞不明白怎么测量的角度？

The returned data of each sensor is

• A reading (a decaying exponential) that depends on the distance between the sensor and the object being detected. This reading is 0 when nothing is detected, and it increases exponentially to 1 when detected objects are closer.
• The angle is measured between the nose of the robot (local X axis) and the angle at which the sensor is located on the body of the robot.

所以，靠的是机器人身上的传感器的位置来计算的正面与障碍物的角度。