def __init__(self,
agent,
x,
y,
z,
direction=Direction.NORTH,
view_distance=5,
view_width=1,
view_height=1):
"""
Initate sensor.
Args:\n
agent - Used to calculate relative position
x - x location of sensor
y - y location of sensor
z - z location of sensor
direction - Specifies the direction the cone is facing
view_distance - Specifys how far the sensor can see
view_width - Specifies how wide the cone of vision of it
view_height - Specifies how height the cone of vision of it
"""
self.length = 0.3
self.height = 0.3
self.width = 0.3
self.x = int(x)
self.y = int(y)
self.z = int(z)
self.direction = direction
self.view_distance = view_distance
self.view_width = view_width
self.view_height = view_height
self.relative_pos = Direction.calculate_normalized_coords(
self.direction,
tuple((self.x - agent.x, self.y - agent.y, self.z - agent.z)),
tuple((agent.agent_length - 1, agent.agent_height - 1,
agent.agent_width - 1)))
