EnvBrain Class Reference

Environment logic and utility class for the robot arena. More...

#include <envbrain.h>

Inheritance diagram for EnvBrain:

Public Slots
Environment update and utility slots
void	refresh ()
	Periodically refreshes environment state and visualization.
void	addNoise ()
	Adds spatial noise to the arena image and updates the visualization.
void	resetHeatMap ()
	Resets the heatmap to its initial state.
void	updateNoiseProps (int time_interval)
	Updates the noise timer interval based on a slider/time parameter.
void	connect_disconnect_add_noise (bool connect_bool)
	Connects or disconnects the timer for adding noise to the environment.
void	update_centroid ()
	Updates centroid of robot distribution. (Empty or placeholder)
void	update_objects_to_draw ()
	Updates arena objects (e.g. ball, robots) to be drawn.

Public Member Functions
	EnvBrain (WorldModel *wm=nullptr)
	Constructs the EnvBrain object.
QList< QPoint >	makeGridPoints (int nRows=1, int nCols=1, int dx=10, int dy=10, QPoint origin=QPoint(0, 0))
	Generates a grid of points within the arena.
QList< QPoint >	makeStarPoints (int nArms=5, int nLayers=10, int d=10, QPoint origin=QPoint(0, 0))
	Generates star-shaped point arrangements centered at a given origin.

Detailed Description

Environment logic and utility class for the robot arena.

Handles collective environment updates, heatmap operations, spatial noise, and geometry generation.

Constructor & Destructor Documentation

EnvBrain()

EnvBrain::EnvBrain ( WorldModel * wm = nullptr )

explicit

Constructs the EnvBrain object.

Parameters

wm	Pointer to the world model.

Initializes environment logic, heatmaps, ball velocity, and timers for periodic updates.

Parameters

wm	Pointer to the world model.

Member Function Documentation

addNoise

void EnvBrain::addNoise ( )

slot

Adds spatial noise to the arena image and updates the visualization.

Adds spatial noise to the arena image.

Applies random noise to each tile of the arena image and updates the processed image for visualization.

connect_disconnect_add_noise

void EnvBrain::connect_disconnect_add_noise ( bool connect_bool )

slot

Connects or disconnects the timer for adding noise to the environment.

Parameters

connect_bool

If true, connect; else disconnect.

makeGridPoints()

QList< QPoint > EnvBrain::makeGridPoints	(	int	nRows = 1,
		int	nCols = 1,
		int	dx = 10,
		int	dy = 10,
		QPoint	origin = QPoint(0,0) )

Generates a grid of points within the arena.

Generates a grid of points within the arena, helpful for initialization of an experiment.

Parameters

nRows	Number of rows.
nCols	Number of columns.
dx	Horizontal spacing between points.
dy	Vertical spacing between points.
origin	Top-left origin for the grid.

Returns

List of grid points.

makeStarPoints()

QList< QPoint > EnvBrain::makeStarPoints	(	int	nArms = 5,
		int	nLayers = 10,
		int	d = 10,
		QPoint	origin = QPoint(0,0) )

Generates star-shaped point arrangements centered at a given origin.

Generates star-shaped point arrangements centered at a given origin, helpful for initialization of an experiment.

Parameters

nArms	Number of star arms.
nLayers	Number of layers (distance steps) on each arm.
d	Distance between layers.
origin	Center of the star.

Returns

List of star points.

refresh

void EnvBrain::refresh ( )

slot

Periodically refreshes environment state and visualization.

Periodically refreshes environment state, heatmap, and visualization objects.

Called on a timer, updates robot positions, heatmap accumulation, centroid, and visualization elements.

resetHeatMap

void EnvBrain::resetHeatMap ( )

slot

Resets the heatmap to its initial state.

Resets the heatmap to an initial (zeroed) state.

update_centroid

void EnvBrain::update_centroid ( )

slot

Updates centroid of robot distribution. (Empty or placeholder)

(Placeholder) Updates centroid of robot distribution. [Empty function]

update_objects_to_draw

void EnvBrain::update_objects_to_draw ( )

slot

Updates arena objects (e.g. ball, robots) to be drawn.

Updates objects (e.g., the ball) to be drawn in the environment.

Handles movement, collision with arena bounds, and collisions with robot circles.

updateNoiseProps

void EnvBrain::updateNoiseProps ( int time_interval )

slot

Updates the noise timer interval based on a slider/time parameter.

Updates the noise timer interval exponentially with respect to a slider/time parameter.

Parameters

time_interval

User-defined time interval (slider value).

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The documentation for this class was generated from the following files:

• envbrain.h
• envbrain.cpp