#104

Committed 26 Jul 2025 09:36AM UTC coverage: 76.435% (+8.6%) from 67.873%

Build # #104

Build Type

Pull #13

github

Committed by

sceredi

Commit Message

docs: add scaladoc to ray

Pull Request Pull Request #13: feat: implement proximity sensor

Run Details

105 of 113 new or added lines in 8 files covered. (92.92%)

2 existing lines in 2 files now uncovered.

253 of 331 relevant lines covered (76.44%)

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/src/main/scala/io/github/srs/model/entity/dynamicentity/sensor/Sensor.scala

package io.github.srs.model.entity.dynamicentity.sensor

import io.github.srs.model.PositiveDouble
import io.github.srs.model.entity.dynamicentity.DynamicEntity
import io.github.srs.model.entity.{ Orientation, Point2D }
import io.github.srs.model.environment.Environment
import io.github.srs.model.validation.Validation
import io.github.srs.utils.Ray.intersectRay

/**
 * Represents the range of a sensor.
 */
type Range = PositiveDouble

/**
 * Represents the distance from the center of a dynamic entity to a sensor.
 */
type Distance = PositiveDouble

/**
 * Represents a sensor reading for a specific sensor type and value.
 *
 * @tparam S
 *   the type of sensor.
 * @tparam A
 *   the type of value that the sensor returns.
 * @param sensor
 *   the sensor that produced the reading.
 * @param value
 *   the value sensed by the sensor.
 */
final case class SensorReading[S <: Sensor[?, ?, A], A](sensor: S, value: A)

/**
 * Represents a collection of sensor readings for a dynamic entity.
 *
 * @param proximity
 *   a sequence of proximity sensor readings, each containing the sensor and its sensed value.
 */
final case class SensorReadings(
    proximity: Vector[SensorReading[ProximitySensor[?, ?], Double]],
)

/**
 * Represents a sensor for a dynamic entity.
 *
 * @tparam Entity
 *   the type of dynamic entity that the sensor can sense.
 * @tparam Env
 *   the type of environment in which the sensor operates.
 * @tparam Data
 *   the type of data that the sensor returns.
 */
trait Sensor[-Entity <: DynamicEntity, -Env <: Environment, +Data]:
  /**
   * The offset orientation of the sensor relative to the entity.
   *
   * This is used to determine the direction in which the sensor is oriented.
   */
  val offset: Orientation

  /**
   * The distance from the center of the entity to the sensor.
   */
  val distance: Distance

  /**
   * The range of the sensor, which defines how far it can sense.
   */
  val range: Range

  /**
   * Senses the environment using the given entity.
   *
   * @param entity
   *   the entity that is sensing the environment.
   * @param environment
   *   the environment in which the entity is operating.
   * @return
   *   the data sensed by the sensor.
   */
  def sense(entity: Entity)(environment: Env): Data

end Sensor

trait ProximitySensor[Entity <: DynamicEntity, Env <: Environment] extends Sensor[Entity, Env, Double]:

  override val offset: Orientation

  override val distance: Distance

  override val range: Range

  /**
   * Senses the environment using the given entity.
   *
   * @param entity
   *   the entity that is sensing the environment.
   * @param environment
   *   the environment in which the entity is operating.
   * @return
   *   the data sensed by the sensor, which is a normalized distance to the nearest obstacle.
   */
  def sense(entity: Entity)(environment: Env): Double =
    import Point2D.*
    val globalOrientation = entity.orientation.toRadians + offset.toRadians
    val direction = Point2D(math.cos(globalOrientation), -math.sin(globalOrientation)) // x is right, y is down
    val origin = entity.position + direction * distance.toDouble
    val end = origin + direction * range.toDouble

    val distances = environment.entities.filter(!_.equals(entity)).flatMap(intersectRay(_, origin, end))

    distances.filter(_ <= range.toDouble).minOption.getOrElse(range.toDouble) / range.toDouble

end ProximitySensor

object ProximitySensor:

  /**
   * Creates a new `ProximitySensor` with the specified offset, distance, and range.
   *
   * @param offset
   *   the offset orientation of the sensor relative to the entity.
   * @param distance
   *   the distance from the center of the entity to the sensor.
   * @param range
   *   the range of the sensor.
   * @return
   *   a new instance of `ProximitySensor`.
   */
  def apply(
      offset: Orientation,
      distance: Double,
      range: Double,
  ): Validation[ProximitySensor[DynamicEntity, Environment]] =
    for
      distance <- PositiveDouble(distance)
      range <- PositiveDouble(range)
    yield new ProximitySensorImpl(offset, distance, range)

  private class ProximitySensorImpl(
      override val offset: Orientation,
      override val distance: Distance,
      override val range: Range,
  ) extends ProximitySensor[DynamicEntity, Environment]

end ProximitySensor

object Sensor:

  extension (e: DynamicEntity)

    /**
     * Senses the environment using the entity's sensors.
     *
     * @param env
     *   the environment in which the entity is operating.
     * @return
     *   a collection of sensor readings.
     */
    def sense(env: Environment): SensorReadings =
      e.sensors.sense(e, env)

1	package io.github.srs.model.entity.dynamicentity.sensor
2
3	import io.github.srs.model.PositiveDouble
4	import io.github.srs.model.entity.dynamicentity.DynamicEntity
5	import io.github.srs.model.entity.{ Orientation, Point2D }
6	import io.github.srs.model.environment.Environment
7	import io.github.srs.model.validation.Validation
8	import io.github.srs.utils.Ray.intersectRay
9
10	/**
11	* Represents the range of a sensor.
12	*/
13	type Range = PositiveDouble
NEW 14		×
15	/**
16	* Represents the distance from the center of a dynamic entity to a sensor.
17	*/
18	type Distance = PositiveDouble
19
20	/**
21	* Represents a sensor reading for a specific sensor type and value.
22	*
23	* @tparam S
24	* the type of sensor.
25	* @tparam A
26	* the type of value that the sensor returns.
27	* @param sensor
28	* the sensor that produced the reading.
29	* @param value
30	* the value sensed by the sensor.
31	*/
32	final case class SensorReading[S <: Sensor[?, ?, A], A](sensor: S, value: A)
33		26✔
34	/**
35	* Represents a collection of sensor readings for a dynamic entity.
36	*
37	* @param proximity
38	* a sequence of proximity sensor readings, each containing the sensor and its sensed value.
39	*/
40	final case class SensorReadings(
41	proximity: Vector[SensorReading[ProximitySensor[?, ?], Double]],	16✔
42	)	3✔
43
44	/**
45	* Represents a sensor for a dynamic entity.
46	*
47	* @tparam Entity
48	* the type of dynamic entity that the sensor can sense.
49	* @tparam Env
50	* the type of environment in which the sensor operates.
51	* @tparam Data
52	* the type of data that the sensor returns.
53	*/
54	trait Sensor[-Entity <: DynamicEntity, -Env <: Environment, +Data]:
55	/**
56	* The offset orientation of the sensor relative to the entity.
57	*
58	* This is used to determine the direction in which the sensor is oriented.
59	*/
60	val offset: Orientation
61
62	/**
63	* The distance from the center of the entity to the sensor.
64	*/
65	val distance: Distance
66
67	/**
68	* The range of the sensor, which defines how far it can sense.
69	*/
70	val range: Range
71
72	/**
73	* Senses the environment using the given entity.
74	*
75	* @param entity
76	* the entity that is sensing the environment.
77	* @param environment
78	* the environment in which the entity is operating.
79	* @return
80	* the data sensed by the sensor.
81	*/
82	def sense(entity: Entity)(environment: Env): Data
83
84	end Sensor
85
86	trait ProximitySensor[Entity <: DynamicEntity, Env <: Environment] extends Sensor[Entity, Env, Double]:
87		5✔
88	override val offset: Orientation
89
90	override val distance: Distance
91
92	override val range: Range
93
94	/**
95	* Senses the environment using the given entity.
96	*
97	* @param entity
98	* the entity that is sensing the environment.
99	* @param environment
100	* the environment in which the entity is operating.
101	* @return
102	* the data sensed by the sensor, which is a normalized distance to the nearest obstacle.
103	*/
104	def sense(entity: Entity)(environment: Env): Double =
105	import Point2D.*	4✔
106	val globalOrientation = entity.orientation.toRadians + offset.toRadians
107	val direction = Point2D(math.cos(globalOrientation), -math.sin(globalOrientation)) // x is right, y is down	20✔
108	val origin = entity.position + direction * distance.toDouble	26✔
109	val end = origin + direction * range.toDouble	34✔
110		27✔
111	val distances = environment.entities.filter(!_.equals(entity)).flatMap(intersectRay(_, origin, end))
112		20✔
113	distances.filter(_ <= range.toDouble).minOption.getOrElse(range.toDouble) / range.toDouble
114		48✔
115	end ProximitySensor
116
117	object ProximitySensor:
NEW 118		×
119	/**
120	* Creates a new `ProximitySensor` with the specified offset, distance, and range.
121	*
122	* @param offset
123	* the offset orientation of the sensor relative to the entity.
124	* @param distance
125	* the distance from the center of the entity to the sensor.
126	* @param range
127	* the range of the sensor.
128	* @return
129	* a new instance of `ProximitySensor`.
130	*/
131	def apply(
132	offset: Orientation,	9✔
133	distance: Double,
134	range: Double,
135	): Validation[ProximitySensor[DynamicEntity, Environment]] =
136	for
137	distance <- PositiveDouble(distance)	1✔
138	range <- PositiveDouble(range)	13✔
139	yield new ProximitySensorImpl(offset, distance, range)
140		3✔
141	private class ProximitySensorImpl(
142	override val offset: Orientation,	12✔
143	override val distance: Distance,	3✔
144	override val range: Range,	3✔
145	) extends ProximitySensor[DynamicEntity, Environment]	3✔
146
147	end ProximitySensor
148
149	object Sensor:
NEW 150		×
151	extension (e: DynamicEntity)
NEW 152		×
153	/**
154	* Senses the environment using the entity's sensors.
155	*
156	* @param env
157	* the environment in which the entity is operating.
158	* @return
159	* a collection of sensor readings.
160	*/
161	def sense(env: Environment): SensorReadings =
NEW 162	e.sensors.sense(e, env)	×

Scala-Robotics-Simulator / PPS-22-srs / #104

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