/usr/include/enki/Interaction.h is in libenki-dev 1:1.6.0-5.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 | /*
Enki - a fast 2D robot simulator
Copyright (C) 1999-2016 Stephane Magnenat <stephane at magnenat dot net>
Copyright (C) 2004-2005 Markus Waibel <markus dot waibel at epfl dot ch>
Copyright (c) 2004-2005 Antoine Beyeler <abeyeler at ab-ware dot com>
Copyright (C) 2005-2006 Laboratory of Intelligent Systems, EPFL, Lausanne
Copyright (C) 2006-2008 Laboratory of Robotics Systems, EPFL, Lausanne
See AUTHORS for details
This program is free software; the authors of any publication
arising from research using this software are asked to add the
following reference:
Enki - a fast 2D robot simulator
http://home.gna.org/enki
Stephane Magnenat <stephane at magnenat dot net>,
Markus Waibel <markus dot waibel at epfl dot ch>
Laboratory of Intelligent Systems, EPFL, Lausanne.
You can redistribute this program and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 2 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef __ENKI_INTERACTION_H
#define __ENKI_INTERACTION_H
/*! \file Interaction.h
\brief The interfaces for the interactions
*/
/*! \defgroup interaction Interaction classes
The locals and globals interactions.
*/
namespace Enki
{
class PhysicalObject;
class Robot;
class World;
//! Interacts with another object or wall only up to a certain distance
/*! \ingroup core */
class LocalInteraction
{
protected:
//! Radius of the local interaction
double r;
//! Robots can access protected members me
friend class Robot;
//! The physical object that owns the interaction.
Robot *owner;
public :
//! Constructor
LocalInteraction():r(0) {}
//! Constructor
LocalInteraction(double range, Robot* owner) : r(range), owner(owner) {}
//! Destructor
virtual ~LocalInteraction() { }
//! Init at each step
virtual void init(double dt, World* w) { }
//! Interact with object
/*!
\param dt time step
\param po object to interact with
\param w world where the interaction takes place
*/
virtual void objectStep(double dt, World* w, PhysicalObject *po) { }
//! Interact with walls
/*!
\param w world to which interact
*/
virtual void wallsStep(double dt, World* w) { }
//! Finalize at each step
virtual void finalize(double dt, World* w) { }
//! Return the range of the interaction
double getRange() const { return r; }
};
//! Interacts with the whole world
/*! \ingroup core */
class GlobalInteraction
{
protected:
//! The physical object that owns the interaction.
Robot *owner;
public :
//! Constructor
GlobalInteraction() {}
//! Constructor
GlobalInteraction(Robot* owner) : owner(owner) {}
//! Destructor
virtual ~GlobalInteraction() { }
//! Init at each step
virtual void init(double dt, World *w) { }
//! Interact with world
virtual void step(double dt, World *w) { }
//! Finalize at each step
virtual void finalize(double dt, World *w) { }
};
}
#endif
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