Added perception

Perception.h

@@ -0,0 +1,3 @@
+#include "Sensing.h"
+
+using Perception = Sensing;

Roboid.h

@@ -1,9 +1,9 @@
 #pragma once
 
 #include "Activation.h"
+#include "Perception.h"
 #include "Placement.h"
 #include "Propulsion.h"
-#include "Sensing.h"
 
 class Roboid {
  public:

Sensing.cpp

@@ -166,7 +166,18 @@ bool Sensing::SwitchOn(float fromAngle, float toAngle) {
   return false;
 }
 
+unsigned int Sensing::ToDepthMapIndex(float angle) {
+  unsigned int depthMapIx = (unsigned int)(((angle - rangeMinimum) / (rangeMaximum - rangeMinimum)) * (float)resolution);
+  return depthMapIx;
+}
+
 float Sensing::GetDistance(float angle) {
+  if (depthMap != nullptr) {
+    if (angle < rangeMinimum || angle > rangeMaximum)
+      return INFINITY;
+    unsigned int depthMapIx = ToDepthMapIndex(angle);
+    return depthMap[depthMapIx];
+  } else {
     for (unsigned int sensorIx = 0; sensorIx < this->sensorCount; sensorIx++) {
       Placement placement = sensorPlacements[sensorIx];
       float placementAngle = placement.direction.x;
@@ -175,5 +186,28 @@ float Sensing::GetDistance(float angle) {
         return distanceSensor->GetDistance();
       }
     }
+  }
   return INFINITY;
 }
+
+void Sensing::SetResolution(unsigned int resolution) {
+  this->resolution = resolution;
+  this->depthMap = new float[this->resolution];
+}
+
+void Sensing::SetRange(float min, float max) {
+  this->rangeMinimum = min;
+  this->rangeMaximum = max;
+}
+
+float* Sensing::GetDepthMap() {
+  return this->depthMap;
+}
+
+void Sensing::SetDepthMap(float angle, float distance) {
+  if (angle < rangeMinimum || angle > rangeMaximum)
+    return;
+
+  unsigned int depthMapIx = ToDepthMapIndex(angle);
+  depthMap[depthMapIx] = distance;
+}

Sensing.h

@@ -72,10 +72,19 @@ class Sensing {
 
   bool SwitchOn(float fromAngle, float toAngle);
 
+  void SetResolution(unsigned int resolution);
+  void SetRange(float min, float max);
+  float* GetDepthMap();
+  unsigned int ToDepthMapIndex(float angle);
+  void SetDepthMap(float angle, float distance);
+
  protected:
   // SensorPlacement* sensors = nullptr;
   Placement* sensorPlacements = nullptr;
   unsigned int sensorCount = 0;
-};
 
-using Perception = Sensing;
+  unsigned int resolution;
+  float rangeMinimum;
+  float rangeMaximum;
+  float* depthMap = nullptr;
+};