Class sensing_subsystem

• Defined in File sensing_subsystem.hpp

Inheritance Relationships

Base Type

• public chal::subsystem::base_sensing_subsystem< COSM_HAL_ROBOT_AVAILABLE_SENSORS >

Class Documentation

class sensing_subsystem : public chal::subsystem::base_sensing_subsystem<COSM_HAL_ROBOT_AVAILABLE_SENSORS>

Base sensing subsystem for all sensors used by all ARGoS robot controllers.

It uses a hal::sensors::position_sensor for positioning information, and manages any number of additional sensors, depending on which robot the HAL is built for:

• chargos::sensors::colored_blob_camera_sensor

• chargos::sensors::light_sensor

• chsensors::battery_sensor

• chsensors::odometry_sensor

• chargos::sensors::wifi_sensor

• chsensors::proximity_sensor

• chsensors::env_sensor

Public Functions

inline explicit sensing_subsystem(sensor_map &&sensors)

inline chsensors::battery_sensor *battery(void)

inline const chsensors::battery_sensor *battery(void) const

inline chsensors::env_sensor *env(void)

inline const chsensors::env_sensor *env(void) const

inline chargos::sensors::light_sensor *light(void)

inline const chargos::sensors::light_sensor *light(void) const

inline chsensors::proximity_sensor *proximity(void)

inline const chsensors::proximity_sensor *proximity(void) const