light_sensor.hpp

#ifndef FASTSIM_LIGHT_SENSOR_HPP_
#define FASTSIM_LIGHT_SENSOR_HPP_

#include <boost/shared_ptr.hpp>
#include "posture.hpp"
#include "map.hpp"

namespace fastsim {
  /// detect an colored illuminated switch in the given direction
  /// (angle) and within the angular range. There is no range limit.
  /// light sensors DONT'T SEE TROUGH OBSTACLES
  class LightSensor {
   public:
    LightSensor(int color, float angle, float range) :
      _color(color), _angle(angle), _range(range),
      _activated(false),_num(0) {
    }
    int update(const Posture& pos,
               const boost::shared_ptr<Map>& map);
    int	get_color() const {
      return _color;
    }
    float get_angle() const {
      return _angle;
    }
    float get_range() const {
      return _range;
    }
    bool get_activated() const {
      return _activated;
    }
    unsigned int get_num() const {
      return _num;
    }
   protected:
    // the "color" (i.e. light identifier) detected
    int _color;
    //
    float _angle;
    //
    float _range;
    //
    bool _activated;
    // sensor number (for display only)
    unsigned int _num;
  };
}
#endif