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Minor fixes to light sensor: wrong id bug. #5

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Minor fixes to light sensor: wrong id bug. #5

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081246f
Minor fixes to light sensor: wrong angle bug.
vivek-shankar Apr 13, 2020
51e70d2
Light sensor fixes.
vivek-shankar Apr 13, 2020
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11 changes: 7 additions & 4 deletions src/plugins/robots/kheperaiv/simulator/kheperaiv_light_rotzonly_sensor.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -19,6 +19,7 @@ namespace argos {

static CRange<Real> SENSOR_RANGE(0.0f, 1.0f);
static CRadians SENSOR_SPACING = CRadians(ARGOS_PI / 12.0f);
static CRadians SENSOR_HALF_SPACING = SENSOR_SPACING * 0.5;

/****************************************/
/****************************************/
Expand Down Expand Up @@ -157,16 +158,17 @@ namespace argos {
* Division says how many sensor spacings there are between first sensor and point at which ray hits kheperaiv body
* Increase magnitude of result of division to ensure correct rounding
*/
Real fIdx = cAngleLightWrtRobot / SENSOR_SPACING;
Real fIdx = (cAngleLightWrtRobot) / SENSOR_SPACING;
SInt32 nReadingIdx = (fIdx > 0) ? fIdx + 0.5f : fIdx - 0.5f;

/* Set the actual readings */
Real fReading = cRobotToLight.Length();
/*
* Take 2 readings before closest sensor and 2 readings after - thus we
* Take 6 readings before closest sensor and 6 readings after - thus we
* process sensors that are with 180 degrees of intersection of light
* ray with robot body
*/
for(SInt32 nIndexOffset = -2; nIndexOffset < 3; ++nIndexOffset) {
for(SInt32 nIndexOffset = -4; nIndexOffset < 5; ++nIndexOffset) {
UInt32 unIdx = Modulo(nReadingIdx + nIndexOffset, 8);
CRadians cAngularDistanceFromOptimalLightReceptionPoint = Abs((cAngleLightWrtRobot - m_tReadings[unIdx].Angle).SignedNormalize());
/*
Expand All @@ -175,7 +177,8 @@ namespace argos {
* 0) to 0 (dist PI/2)
*/
m_tReadings[unIdx].Value += ComputeReading(fReading) * ScaleReading(cAngularDistanceFromOptimalLightReceptionPoint);
}
}

}
else {
/* The ray is occluded */
Expand Down