Sound sensor with possible direction and frequency detection and also distance dependence (Not implemented yet) This works, but is not very well tested and documented. More...

#include <soundsensor.h>

Inheritance diagram for SoundSensor:

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Collaboration diagram for SoundSensor:

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Public Types
enum	Measure { Segments, Angle, AngleVel }
	Segments: for each segement and level we get the Angle: for each level we get a triple (intensity, sin(angle), cos(angle)) multiple sound sources are averaged (weighted by intensity) AngleVel: for each level we get a tuple (intensity, angle-velocity) More...

Public Types inherited from Sensor
enum	Dimensions { X = 1, Y = 2, Z = 4, XY = X \| Y, XZ = X \| Z, YZ = Y \| Z, XYZ = X \| Y \| Z }
	defines which dimensions should be sensed. The meaning is sensor specific. More...

Public Types inherited from SensorMotorInfoAble
typedef std::function < std::string(int)>	NamingFunction
	function that returns the name given the index More...

Public Member Functions
	SoundSensor (Dimensions dim=Z, Measure measure=Angle, int segments=1, int levels=1, double maxDistance=50, double noisestrength=0.1)

virtual	~SoundSensor ()

virtual void	init (Primitive own, Joint joint=0) override
	initialises sensor with a body of robot and optionally with a joint. More...

virtual bool	sense (const GlobalData &globaldata) override
	performs sense action More...

virtual float	distanceDependency (const Sound &s, double distance)
	default implementation is a linear decrease in intensity until it is 0 at maxDistance More...

virtual int	getSensorNumber () const override
	returns the number of sensors values produced by this sensor More...

virtual std::list< sensor >	getList () const override
	returns a list of sensor values (usually in the range [-1,1] ) This function should be overloaded. More...

virtual int	get (sensor *sensors, int length) const override
	writes the sensor values (usually in the range [-1,1] ) into the given sensor array and returns the number of sensors written. More...

Public Member Functions inherited from Sensor
	Sensor ()

virtual	~Sensor ()

virtual std::list < SensorMotorInfo >	getSensorInfos () const
	returns a list of sensor infos ( More...

virtual void	update ()
	to update any visual appearance More...

std::list< sensor >	getListOfArray () const
	helper function for performance implementation of list<> get() based on array-get More...

Public Member Functions inherited from SensorMotorInfoAble
	SensorMotorInfoAble ()

void	setBaseName (const std::string &basename)

void	setBaseInfo (const SensorMotorInfo &baseinfo)

SensorMotorInfo	getBaseInfo ()

void	setNamingFunc (const NamingFunction &func)

NamingFunction	getNamingFunc () const

void	setNames (const std::vector< std::string > &names)
	set names explicitly (basename is anyway suffixed) More...

std::string	getName (int index) const
	returns the name of a single item. Typically called from within Sensor and Motor class. More...

std::list< SensorMotorInfo >	getInfos (int number) const
	get all infos. More...

Additional Inherited Members
Static Public Member Functions inherited from Sensor
static std::list< sensor >	selectrows (const matrix::Matrix &m, short dimensions)
	selects the rows specified by dimensions (X->0, Y->1, Z->2) More...

static int	selectrows (sensor *sensors, int length, const matrix::Matrix &m, short dimensions)
	selects the rows specified by dimensions (X->0, Y->1, Z->2) More...

static Dimensions	parseSensorDimension (char *str)

static std::string	dimensions2String (short dimensions)

Static Public Member Functions inherited from SensorMotorInfoAble
static std::string	defaultNameing (int index)
	the default implementation is for index==0: basename, otherwise basename + (index+1) More...

Protected Attributes inherited from SensorMotorInfoAble
NamingFunction	func

SensorMotorInfo	baseinfo

Detailed Description

Sound sensor with possible direction and frequency detection and also distance dependence (Not implemented yet) This works, but is not very well tested and documented.

The angle detection also works without sound and so on. Take a look at the code before using it.

Member Enumeration Documentation

enum Measure

Segments: for each segement and level we get the Angle: for each level we get a triple (intensity, sin(angle), cos(angle)) multiple sound sources are averaged (weighted by intensity) AngleVel: for each level we get a tuple (intensity, angle-velocity)

Enumerator
Segments
Angle
AngleVel

Constructor & Destructor Documentation

SoundSensor	(	Dimensions	dim = `Z`,
		Measure	measure = `Angle`,
		int	segments = `1`,
		int	levels = `1`,
		double	maxDistance = `50`,
		double	noisestrength = `0.1`
	)

Parameters

dim	Up-axis of the robot (sometimes it is not Z)
measure	what to measure

See Also: Measure

~SoundSensor ( )

virtual

Member Function Documentation

float distanceDependency	(	const Sound &	s,
		double	distance
	)

virtual

default implementation is a linear decrease in intensity until it is 0 at maxDistance

int get	(	sensor *	sensors,
		int	length
	)		const

overridevirtual

writes the sensor values (usually in the range [-1,1] ) into the given sensor array and returns the number of sensors written.

A default implementation based on get() is provided. Only if performance matters overwrite this function.

Parameters

sensors	call by refernce array which received the values
length	capacity of sensors array

Returns: number of sensor values written

Reimplemented from Sensor.

std::list< sensor > getList ( ) const

overridevirtual

returns a list of sensor values (usually in the range [-1,1] ) This function should be overloaded.

If performance matters, implement get(double*, int) and use getListOfArray to implement this.

Implements Sensor.

int getSensorNumber ( ) const

overridevirtual

returns the number of sensors values produced by this sensor

Implements Sensor.

virtual void init	(	Primitive *	own,
		Joint *	joint = `0`
	)

inlineoverridevirtual

initialises sensor with a body of robot and optionally with a joint.

This is usually done by the robot itself (or using the Attachment())

Implements Sensor.

bool sense ( const GlobalData & globaldata )

overridevirtual

performs sense action

Implements Sensor.

The documentation for this class was generated from the following files:

Public Types

Public Member Functions

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation