/usr/include/enki/robots/khepera/Khepera.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 | /*
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_KHEPERA_H
#define __ENKI_KHEPERA_H
#include <enki/robots/DifferentialWheeled.h>
#include <enki/interactions/IRSensor.h>
#include <enki/interactions/CircularCam.h>
/*! \file Khepera.h
\brief Header of the Khepera robot
*/
namespace Enki
{
//! A simple model of the Khepera robot.
/*! \ingroup robot */
class Khepera : public DifferentialWheeled
{
public:
//! The infrared sensor 0 (left)
IRSensor infraredSensor0;
//! The infrared sensor 1 (front-left)
IRSensor infraredSensor1;
//! The infrared sensor 2 (front)
IRSensor infraredSensor2;
//! The infrared sensor 3 (front)
IRSensor infraredSensor3;
//! The infrared sensor 4 (front-right)
IRSensor infraredSensor4;
//! The infrared sensor 5 (right)
IRSensor infraredSensor5;
//! The infrared sensor 6 (back)
IRSensor infraredSensor6;
//! The infrared sensor 7 (back)
IRSensor infraredSensor7;
//! Linear camera
CircularCam camera;
public:
//! The bot's capabilities. You can simply select a predefined set of sensors. These correspond to the different extension modules that exist for the Khepera.
enum Capabilities
{
//! No sensor: not very useful
CAPABILITIY_NONE = 0,
//! Basic_Sensors: Just the 8 IRSensors of the base module
CAPABILITIY_BASIC_SENSORS = 0x1,
//! Camera: add a linear camera
CAPABILITY_CAMERA = 0x2
};
public:
//! Create a Khepera with certain modules aka capabilities (basic)
Khepera(unsigned capabilities = CAPABILITIY_BASIC_SENSORS);
};
}
#endif
|