The ARGoS Forum

Posted: **Sun May 13, 2018 12:00 pm**

I want to create multiple boxes at random locations each of which has a LED on top. The boxes are foods and will be removed later from the simulation.
Please provide some samples to do it via loop functions.
Thanks in advance.

Posted: **Sun May 20, 2018 6:49 am**

Is something wrong with my question?

At least, redirect me to some tutorial or documentation.

Posted: **Sun May 20, 2018 2:25 pm**

Nothing is wrong with your question - I just had no time to make a complete example for you because I'm working on a paper. I can give this at the moment.

You can do it in the XML:

Code: Select all

<!-- Check argos3 -q box -->
<distribute>
  <position method="uniform" min="-2,-2,0" max="2,2,0" />
  <orientation method="uniform" min="0,0,0" max="360,0,0" />
  <entity quantity="5" max_trials="100">
    <box id="b" size="0.5,0.5,0.5" movable="true">
      <leds medium="id_of_led_medium">
        <led offset="0,0,1.0" anchor="origin" color="red" />
      </leds>
    </box>
  </entity>
</distribute>

To create a box with an LED on top, you can do this instead:

Code: Select all

CMyLoopFunctions::Init(...) {
   // Get a reference to the LED medium
   //
   // The passed id "leds" corresponds to the id of the led_medium in
   // the XML file
   //
   // see https://github.com/ilpincy/argos3/blob/master/src/core/simulator/simulator.h
   // see https://github.com/ilpincy/argos3/blob/master/src/plugins/simulator/media/led_medium.h
   CLEDMedium& cLEDMedium = GetSimulator().GetMedium("leds");
   // Add a new box with an LED on top
   // see https://github.com/ilpincy/argos3/blob/master/src/plugins/simulator/entities/box_entity.h
   CBoxEntity* pcBox = new CBoxEntity("box1",                  // id
                                      CVector3(1.0, 2.0, 0.0), // position
                                      CQuaternion(),           // orientation
                                      true,                    // movable or not?
                                      CVector3(0.5, 0.5, 0.5), // size
                                      1.0);                    // mass in kg
   // Add LED on top of the box
   pcBox->AddLED(CVector3(0.0, 0.0, 1.0), // offset
                 CColor::RED);            // color
   // Enable LED management for the box
   pcBox->EnableLEDs(cLEDMedium);
   // Add the box to the simulation
   AddEntity(*pcBox);
}

The same would be for a cylinder.

(if the code formatting looks wrong, press Shift in your keyboard and the reload button of your browser - I had to make a fix to the CSS of the forum to display code correctly)

EDIT: This is the correct code. The discussion that follows is based on a bug in the original code I posted. The rest of the discussion won't refer to this code and can be ignored.

Posted: **Mon May 21, 2018 11:02 am**

Thank you very much for spending time on this question.

I am getting the following error when using:

Code: Select all

CLEDMedium& cLEDMedium = GetSimulator().GetMedium("leds");

error: no matching function for call to ‘argos::CSimulator::GetMedium(const char [5])’
CLEDMedium& cLEDMedium = GetSimulator().GetMedium("leds");

Posted: **Mon May 21, 2018 11:03 am**

How can I get the position of a box?

Posted: **Mon May 21, 2018 8:13 pm**

Code: Select all

CBoxEntity& cBox = ...

cBox.GetEmbodiedEntity().GetOriginAnchor()

Posted: **Tue May 22, 2018 6:18 am**

Thank you very much for spending time on this question.

I am getting the following error when using:

Code: Select all
CLEDMedium& cLEDMedium = GetSimulator().GetMedium("leds");

error: no matching function for call to ‘argos::CSimulator::GetMedium(const char [5])’
CLEDMedium& cLEDMedium = GetSimulator().GetMedium("leds");

I am using ARGoS v3.0.0-beta47.

Posted: **Tue May 22, 2018 12:48 pm**

Try

Code: Select all

CLEDMedium& cLEDMedium = GetSimulator().GetMedium<CLEDMedium>("leds");

It would be helpful if you posted your code and the full error you get.

Also, I suggest you to familiarize with the ARGoS API rather than proceeding by individual examples.

Posted: **Thu May 24, 2018 12:38 pm**

I appreciate your patience and time to thoroughly answering all of my questions. I uploaded the full project here: https://ufile.io/tq3vn.

I am learning ARGoS APIs using the example-based method. It's one of the well-known learning methods

.

Posted: **Thu May 24, 2018 1:05 pm**

What should I do with the sources?

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Create multiple boxes with LED on top

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