LARS
LARS (Light Augmented Reality System) is an open-source framework for light-based interaction and real-time tracking in multi-robot experiments. Inspired by ARK, LARS extends the augmented reality paradigm to robotic collectives by projecting dynamic visual cues and environments onto the arena, enabling new experimental possibilities for collective robotics research, education, and outreach. LARS features integrated tracking, light projection, and modular experiment control with a user-friendly Qt GUI.
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KilobotExperiment Class Referenceabstract
Inheritance diagram for KilobotExperiment:

Public Slots

virtual void initialise (bool)=0
virtual void stopExperiment ()
virtual void run ()
void setRuntimeIdentificationLock (bool lock)
void GetMsgsQueueState (bool state)
void updateStateRequiredCode (Kilobot *kilobot, Kilobot kilobotCopy)
 updateStateRequiredCode
void setupInitialStateRequiredCode (Kilobot *kilobot, Kilobot kilobotCopy)
 setupInitialStateRequiredCode
void signalKilobotExpt (kilobot_message msg)

Signals

void updateKilobotStates ()
void getInitialKilobotStates ()
void experimentComplete ()
void saveImage (QString)
void saveVideoFrames (QString, unsigned int)
void signalKilobot (kilobot_message)
void broadcastMessage (kilobot_broadcast)
void setTrackingType (int)
void sendBroadcastingState (bool)
void drawCircle (QPointF pos, float r, QColor col, int thickness, std::string text, bool transparent=false)
void drawLine (std::vector< cv::Point > pos, QColor col, int thickness, std::string text, bool transparent)
void clearDrawings ()
void drawCircleOnRecordedImage (QPointF pos, float r, QColor col, int thickness, std::string text)
void clearDrawingsOnRecordedImage ()

Public Member Functions

virtual QWidget * createGUI ()

Public Attributes

int serviceInterval = 100

Protected Member Functions

void setCurrentKilobotEnvironment (KilobotEnvironment *environment)
virtual void updateKilobotState (Kilobot)
virtual void setupInitialKilobotState (Kilobot)

Protected Attributes

double time
bool runtimeIdentificationLock = false
bool ThereIsMsgsToSend =false

Member Function Documentation

◆ setupInitialStateRequiredCode

void KilobotExperiment::setupInitialStateRequiredCode ( Kilobot * kilobot,
Kilobot kilobotCopy )
inlineslot

setupInitialStateRequiredCode

Parameters
kilobot
kilobotCopy

Slot that makes sure that some code is run BEFORE the derived function

◆ updateStateRequiredCode

void KilobotExperiment::updateStateRequiredCode ( Kilobot * kilobot,
Kilobot kilobotCopy )
inlineslot

updateStateRequiredCode

Parameters
kilobot
kilobotCopy

Slot that makes sure that some code is run BEFORE the derived function

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