root / trunk / code / projects / libwireless / lib / sensor_matrix.h @ 717
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/**
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* Copyright (c) 2007 Colony Project
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*
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* Permission is hereby granted, free of charge, to any person
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* obtaining a copy of this software and associated documentation
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* files (the "Software"), to deal in the Software without
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* restriction, including without limitation the rights to use,
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* copy, modify, merge, publish, distribute, sublicense, and/or sell
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* copies of the Software, and to permit persons to whom the
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* Software is furnished to do so, subject to the following
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* conditions:
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*
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* The above copyright notice and this permission notice shall be
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* included in all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
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* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
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* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
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* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
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* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
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* OTHER DEALINGS IN THE SOFTWARE.
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**/
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/**
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* @file sensor_matrix.h
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* @brief Definitions for sensor matrices
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*
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* Contains functions and declarations for using sensor matrices.
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*
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* @author Brian Coltin, Colony Project, CMU Robotics Club
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**/
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#ifndef SENSOR_MATRIX_H
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#define SENSOR_MATRIX_H
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/**
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* @defgroup sensormatrix Sensor Matrix
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* @brief the robot sensor matrix
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*
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* These functions and structures are used for localization
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* to determine the relative directions of robots.
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*
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* @{
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**/
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/**
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* @struct SensorMatrix
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*
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* A sensor matrix.
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**/
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//TODO: the order of member variables in this struct should be changed in case the compile packs the struct
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// In order to achieve the best packing, the variables should be listed in order of decreasing memory size.
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// Thus, pointers should be first, followed by int, followed by char.
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typedef struct |
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{ |
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/**
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* The size of the sensor matrix.
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**/
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int size;
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/**
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* The matrix. Each row represents the readings of one
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* robot.
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**/
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int** matrix;
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/**
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* The element representing a robot is true if that robot
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* is in the token ring and false otherwise.
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**/
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//TODO: if these values are just to be used to represent boolean values, why are they int?
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// They could be made char and the code should still be fine, and if you want to save more
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// memory, they could be made into bit vectors but that would increase the complexity of
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// the code to set and read from them.
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int* joined;
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/**
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* The number of robots in the token ring.
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**/
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//TODO: int is probably > 2 bytes. Unless we are going to have more than 255 robots,
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// this could be made a char. It would only save 1 byte, but on embedded systems, every
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// byte counts
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int numJoined;
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} SensorMatrix; |
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/**@brief Create a sensor matrix **/
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SensorMatrix* sensor_matrix_create(void);
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/**@brief Destroy a sensor matrix **/
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void sensor_matrix_destroy(SensorMatrix* m);
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/**@brief Add a robot to a sensor matrix **/
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void sensor_matrix_add_robot(SensorMatrix* m, int id); |
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/**@brief Remove a robot from a sensor matrix **/
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void sensor_matrix_remove_robot(SensorMatrix* m, int id); |
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/**@brief Set a reading in a sensor matrix **/
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void sensor_matrix_set_reading(SensorMatrix* m, int observer, int robot, int reading); |
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/**@brief Get a reading in a sensor matrix **/
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int sensor_matrix_get_reading(SensorMatrix* m, int observer, int robot); |
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/**@brief Set whether the robot is in the token ring **/
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void sensor_matrix_set_in_ring(SensorMatrix* m, int robot, int in); |
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/**@brief Get whether the robot is in the sensor ring **/
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int sensor_matrix_get_in_ring(SensorMatrix* m, int robot); |
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/**@brief Get the size of the sensor matrix **/
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int sensor_matrix_get_size(SensorMatrix* m);
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/**@brief Get the number of robots which have joined the token ring **/
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int sensor_matrix_get_joined(SensorMatrix* m);
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/** @} **/ //end defgroup |
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#endif
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