Is there vector 3D definition?

[leloric]

Hi everyone,

I am trying to build a controller for eyebot_diffusion from scratch (as it is not included in the examples).
This is so that I can get a feel of how to program my own robots using ARGoS in the future.

In the footbot_diffusion, there is a line that goes:

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/* 2D vector definition */ #include <argos2/common/utility/math/vector2.h>

I am wondering is there a 3D vector definition?
I tried to follow the file link to no avail.

Would appreciate if anyone could confirm this with me.

Thanks

[pincy]

Hi leloric,

sure there is a definition of the 3D vector, as well as other useful mathematical classes. Everything is installed in /usr/include/argos2/common/utility/math. There's a number of further utility classes and functions in /usr/include/argos2/common/utility.

Ciao!
Carlo

[leloric]

Thanks for the reply Carlo.
Struggling through the coding as we speak.
Guess I will continue afte my weekend ...

Need Break!!!

[pincy]

You're welcome! Good luck with your code

[leloric]

I have a question:

void CFootBotDiffusion::ControlStep() {
/* Get readings from proximity sensor */
const CCI_FootBotProximitySensor::TReadings& tProxReads = m_pcProximity->GetReadings();
&
void CEyeBotDiffusion::ControlStep() {
/* Get readings from distance scanner sensor */
const CCI_EyeBotDistanceScannerSensor::TReadings& tDistReads = m_pcDistance->GetReadings();

Originally, I changed only the parts highlighted in red. Running the make command produced error saying that it does not recognise tProxReads. After searching through all the documents to no avail, I (got inspired and) changed the part highlighted in blue and it ran ok under make command. Could someone explain how tProxReads and tDistReads work, and their differences other than name?

[pincy]

I'm not sure I understand the problem. Could you please copy-paste the actual error message you got from make?

[leloric]

The error is as follows:

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/home/a9658007/argos2-user/controllers/eyebot_diffusion/eyebot_diffusion.cpp: In member function ‘virtual void CEyeBotDiffusion::ControlStep()’: /home/a9658007/argos2-user/controllers/eyebot_diffusion/eyebot_diffusion.cpp:56:26: error: ‘tProxReads’ was not declared in this scope

[leloric]

I have noticed that the eyebot_distance_scanner_sensor.h does not has a distance variable while the footbot_distance_scanner_sensor.h has both angle and distance.

Is it ok to modify the eyebot_distance_scanner_sensor.h to incorporate the distance?
Or is it possible to use the footbot_distance_scanner_sensor.h on the eyebot which I am making?

[leloric]

Found out that I cannot modify the codes in common/control_interface.
Used the footbot distance scanner sensor instead.

Could not compile because of the altitude sensor causing problem.

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CEyeBotDiffusion::CEyeBotDiffusion() : m_pcPropellers(NULL), m_pcLEDs(NULL), m_pcAltitude(NULL) << causing problem m_pcDistance(2.5f), m_cAlpha(10.0f), m_fDelta(0.5f), m_cAltitude(0.0f) << causing problem m_fPropellerLinearVelocity(2.5f), m_fPropellerAngularVelocity(2.5f), m_cGoStraightAngleRange(-ToRadians(m_cAlpha), ToRadians(m_cAlpha)) {} /****************************************/ /****************************************/ void CEyeBotDiffusion::Init(TConfigurationNode& t_node) { m_pcPropellers = dynamic_cast<CCI_EyeBotPropellersActuator* >(GetRobot().GetActuator("eyebot_propellers")); m_pcLEDs = dynamic_cast<CCI_EyeBotLedsActuator* >(GetRobot().GetActuator("eyebot_leds")); m_pcAltitude = dynamic_cast<CCI_EyeBotAltitudeSensor* >(GetRobot().GetSensor ("eyebot_altitude")); m_pcDistance = dynamic_cast<CCI_FootBotDistanceScannerSensor*>(GetRobot().GetSensor ("footbot_distance_scanner")); GetNodeAttributeOrDefault(t_node, "alpha", m_cAlpha, m_cAlpha); m_cGoStraightAngleRange.Set(-ToRadians(m_cAlpha), ToRadians(m_cAlpha)); GetNodeAttributeOrDefault(t_node, "delta", m_fDelta, m_fDelta); GetNodeAttributeOrDefault(t_node, "velocity", m_fPropellerLinearVelocity, m_fPropellerAngularVelocity); GetNodeAttributeOrDefault(t_node, "altitude", m_fAltitude); }

Error:

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/home/a9658007/argos2-user/controllers/eyebot_diffusion/eyebot_diffusion.cpp: In constructor ‘CEyeBotDiffusion::CEyeBotDiffusion()’: /home/a9658007/argos2-user/controllers/eyebot_diffusion/eyebot_diffusion.cpp:20:36: error: cannot convert ‘float’ to ‘argos::CCI_FootBotDistanceScannerSensor*’ in initialization

I am confused as to when m_fxxxxx and m_cxxxxxx for my variables.
Greatly in need of advice and help.
Building this alone is truly difficult.

[pincy]

You can't modify the interfaces in the common_interface directory, for two reasons. First, because that's the robot control interface - modifying that interface means modifying the way the robot works. Second, because the files are installed system-wide.
Also, you can't use the foot-bot distance scanner with the eye-bot - the two robots are different in reality as well as in simulation.

If you're confused on how to proceed, write me a PM at cpinciro@ulb.ac.be and we can arrange a Skype call.