Perception.h

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#pragma once
 
#include "Placement.h"
#include "Sensor.h"
 
namespace Passer {
namespace RoboidControl {
 
class Perception {
 public:
  Perception();
 
  template <unsigned int sensorCount>
  inline Perception(Placement (&sensors)[sensorCount]) {
    Perception(sensors, sensorCount);
  }
  Perception(Placement* sensors, unsigned int sensorCount);
 
  unsigned int GetSensorCount();
  Sensor* GetSensor(unsigned int sensorIx);
  Placement* GetSensorPlacement(unsigned int sensorIx);
 
  float DistanceForward(float direction = 90);
 
  float DistanceLeft() { return DistanceLeft(180); }
  float DistanceLeft(float angle);
 
  float DistanceRight() { return DistanceRight(180); }
  float DistanceRight(float angle);
 
  float DistanceUp() { return DistanceUp(180); }
  float DistanceUp(float angle);
  float DistanceDown() { return DistanceDown(180); }
  float DistanceDown(float angle);
 
  bool SwitchOn(float fromAngle, float toAngle);
 
 protected:
  Placement* sensorPlacements = nullptr;
  unsigned int sensorCount = 0;
};
 
}  // namespace RoboidControl
}  // namespace Passer
using namespace Passer::RoboidControl;