95 lines
3.5 KiB
C
95 lines
3.5 KiB
C
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/*
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Adept MobileRobots Robotics Interface for Applications (ARIA)
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Copyright (C) 2004, 2005 ActivMedia Robotics LLC
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Copyright (C) 2006, 2007, 2008, 2009, 2010 MobileRobots Inc.
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Copyright (C) 2011, 2012, 2013 Adept Technology
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This program is free software; you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation; either version 2 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program; if not, write to the Free Software
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Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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If you wish to redistribute ARIA under different terms, contact
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Adept MobileRobots for information about a commercial version of ARIA at
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robots@mobilerobots.com or
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Adept MobileRobots, 10 Columbia Drive, Amherst, NH 03031; +1-603-881-7960
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*/
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#ifndef ARSONARDEVICE_H
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#define ARSONARDEVICE_H
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#include "ariaTypedefs.h"
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#include "ArRangeDevice.h"
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#include "ArFunctor.h"
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#include "ArRobot.h"
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/// Keep track of recent sonar readings from a robot as an ArRangeDevice
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/**
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This class is for keeping a sonar history, which you may use for obstacle
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avoidance, display, etc.
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Simply use ArRobot::addRangeDevice() (or ArSonarDevice::setRobot())
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to attach an ArSonarDevice object to an ArRobot
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robot object; ArSonarDevice will add a Sensor Interpretation task to the
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ArRobot which will read new sonar readings each robot cycle and add
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them to its sonar history.
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(Note that sonar range readings are from the surface of the sonar transducer disc,
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not from the center of the robot.)
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@ingroup ImportantClasses
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@ingroup DeviceClasses
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*/
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class ArSonarDevice : public ArRangeDevice
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{
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public:
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/// Constructor
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AREXPORT ArSonarDevice(size_t currentBufferSize = 24,
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size_t cumulativeBufferSize = 64,
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const char * name = "sonar");
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/// Destructor
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AREXPORT virtual ~ArSonarDevice();
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/// Grabs the new readings from the robot and adds them to the buffers
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/// (Primarily for internal use.)
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AREXPORT void processReadings(void);
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/// Sets the robot pointer, also attaches its process function to the
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/// robot as a Sensor Interpretation task.
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AREXPORT virtual void setRobot(ArRobot *robot);
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/// Adds sonar readings to the current and cumulative buffers
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/// Overrides the ArRangeDevice default action.
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/// (This method is primarily for internal use.)
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AREXPORT virtual void addReading(double x, double y);
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/// Sets a callback which if it returns true will ignore the reading
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AREXPORT void setIgnoreReadingCB(ArRetFunctor1<bool, ArPose> *ignoreReadingCB);
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/// Gets the callback which if it returns true will ignore the reading
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AREXPORT ArRetFunctor1<bool, ArPose> *getIgnoreReadingCB(void)
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{ return myIgnoreReadingCB; }
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/** @deprecated
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* @sa ArRangeDevice::setMaxDistToKeepCumulative()
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*/
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AREXPORT void setCumulativeMaxRange(double range)
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{ setMaxDistToKeepCumulative(range); }
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protected:
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ArFunctorC<ArSonarDevice> myProcessCB;
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double myFilterNearDist; // we throw out cumulative readings this close to current one
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double myFilterFarDist; // throw out cumulative readings beyond this far from robot
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ArRetFunctor1<bool, ArPose> *myIgnoreReadingCB;
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};
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#endif // ARSONARDEVICE_H
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