Colony

/**

 * @file sensor_matrix.h

 * @brief Definitions for sensor matrices

 *

 * Contains functions and declarations for using sensor matrices.

 *

 * @author Brian Coltin, Colony Project, CMU Robotics Club

 **/

#ifndef SENSOR_MATRIX_H

#define SENSOR_MATRIX_H

/**

 * @defgroup sensormatrix Sensor Matrix

 * @brief the robot sensor matrix

 *

 * These functions and structures are used for localization

 * to determine the relative directions of robots.

 *

 * @{

 **/

/**

 * @struct SensorMatrix

 *

 * A sensor matrix.

 **/

typedef struct

{

        /**

         * The size of the sensor matrix.

        **/

        unsigned int size;

        /**

         * The matrix. Each row represents the readings of one

         * robot.

         **/

        int** matrix;

        /**

         * The element representing a robot is true if that robot

         * is in the token ring and false otherwise.

         **/

        int* joined;

        /**

         * The number of robots in the token ring.

         **/

        int numJoined;

} SensorMatrix;

/**@brief Create a sensor matrix **/

SensorMatrix* sensor_matrix_create(void);

/**@brief Destroy a sensor matrix **/

void sensor_matrix_destroy(SensorMatrix* m);

/**@brief Add a robot to a sensor matrix **/

void sensor_matrix_add_robot(SensorMatrix* m, unsigned int id);

/**@brief Remove a robot from a sensor matrix **/

void sensor_matrix_remove_robot(SensorMatrix* m, unsigned int id);

/**@brief Set a reading in a sensor matrix **/

void sensor_matrix_set_reading(SensorMatrix* m, int observer, int robot, int reading);

/**@brief Get a reading in a sensor matrix **/

int sensor_matrix_get_reading(SensorMatrix* m, int observer, int robot);

/**@brief Set whether the robot is in the token ring **/

void sensor_matrix_set_in_ring(SensorMatrix* m, int robot, int in);

/**@brief Get whether the robot is in the sensor ring **/

int sensor_matrix_get_in_ring(SensorMatrix* m, int robot);

/**@brief Get the size of the sensor matrix **/

int sensor_matrix_get_size(SensorMatrix* m);

/**@brief Get the number of robots which have joined the token ring **/

int sensor_matrix_get_joined(SensorMatrix* m);

/** @} **/ //end defgroup

#endif