Added sensor rendering.

ias_robot.hpp

@@ -29,30 +29,32 @@
 #include "robot.hpp"
 #include "pheromone.hpp"
 
-/**
- * Concrete robot that implements the IAS-SS architecture as defined in:
- *
- *   1) R. Calvo et al. "Inverse ACO for Exploration and Surveillance in
- *      Unknown Environments", The Third International Conference on Advanced
- *      Cognitive Technologies and Applications, Rome, Italy 2011.
- *
- *   2) R. Calvo et al. "A Distributed, Bio-Inspired Coordination Strategy
- *      for Multiple Agent Systems Applied to Surveillance Tasks in Unknown
- *      Environments", Proc. of the IEEE IJCNN, San Jose, USA, 2011.
- */
-class IASSS_Robot : Robot {
-public:
-  IASSS_Robot(std::string hostname, uint32_t port, PheromoneMap * phero_map);
-  virtual ~IASSS_Robot();
-  virtual void run();
+namespace ias_ss {
+  /**
+   * Concrete robot that implements the IAS-SS architecture as defined in:
+   *
+   *   1) R. Calvo et al. "Inverse ACO for Exploration and Surveillance in
+   *      Unknown Environments", The Third International Conference on Advanced
+   *      Cognitive Technologies and Applications, Rome, Italy 2011.
+   *
+   *   2) R. Calvo et al. "A Distributed, Bio-Inspired Coordination Strategy
+   *      for Multiple Agent Systems Applied to Surveillance Tasks in Unknown
+   *      Environments", Proc. of the IEEE IJCNN, San Jose, USA, 2011.
+   */
+  class IASSS_Robot : Robot {
+  public:
+    IASSS_Robot(std::string hostname, uint32_t port, PheromoneMap * phero_map);
+    virtual ~IASSS_Robot();
+    virtual void run();
 
-private:
-  PheromoneMap * _phero_map;
-  phero_sensor_t _phero_sensor;
+  private:
+    PheromoneMap * _phero_map;
+    phero_sensor_t _phero_sensor;
   
-  void avoid_wall(float front_speed, float turn_speed);
-  void deposit_pheromone(float x, float y);
-  float brss();
-};
+    void avoid_wall(float front_speed, float turn_speed);
+    void deposit_pheromone(float x, float y);
+    float brss();
+  };
+}
 
 #endif