Program Listing for File phototaxis_force.hpp

↰ Return to documentation for file (cosm/apf2D/nav/phototaxis_force.hpp)

#pragma once

/*******************************************************************************
 * Includes
 ******************************************************************************/
#include <vector>

#include "cosm/hal/sensors/colored_blob_camera_sensor_reading.hpp"
#include "cosm/hal/sensors/light_sensor_reading.hpp"
#include "cosm/apf2D/boid.hpp"
#include "cosm/apf2D/base_force.hpp"


/*******************************************************************************
 * Namespaces/Decls
 ******************************************************************************/
namespace cosm::apf2D::nav {

namespace config {
struct phototaxis_force_config;
}

/*******************************************************************************
 * Class Definitions
 ******************************************************************************/

class phototaxis_force : public capf2D::base_force {
 public:
  using light_sensor_readings = std::vector<hal::sensors::light_sensor_reading>;
  using camera_sensor_readings =
      std::vector<hal::sensors::colored_blob_camera_sensor_reading>;
  explicit phototaxis_force(const config::phototaxis_force_config* config);

  rmath::vector2d operator()(const light_sensor_readings& readings) const;

  rmath::vector2d operator()(const camera_sensor_readings& readings,
                             const rutils::color& color) const;

 private:
  /* clang-format off */
  const double mc_max;
  /* clang-format on */
};

} /* namespace cosm::apf2D::nav */