75 lines
2.6 KiB
C
75 lines
2.6 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 ARIRRFDEVICE_H
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#define ARIRRFDEVICE_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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/// A class for connecting to a PB-9 and managing the resulting data
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/**
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This class is for use with a PB9 IR rangefinder. It has the packethandler
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necessary to process the packets, and will put the data into ArRangeBuffers
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for use with obstacle avoidance, etc.
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The PB9 is still under development, and only works on an H8 controller
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running AROS.
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*/
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class ArIrrfDevice : public ArRangeDevice
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{
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public:
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/// Constructor
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AREXPORT ArIrrfDevice(size_t currentBufferSize = 91,
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size_t cumulativeBufferSize = 273,
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const char * name = "irrf");
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/// Destructor
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AREXPORT virtual ~ArIrrfDevice();
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/// The packet handler for use when connecting to an H8 micro-controller
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AREXPORT bool packetHandler(ArRobotPacket *packet);
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/// Maximum range for a reading to be added to the cumulative buffer (mm)
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AREXPORT void setCumulativeMaxRange(double r) { myCumulativeMaxRange = r; }
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AREXPORT virtual void setRobot(ArRobot *);
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protected:
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ArRetFunctor1C<bool, ArIrrfDevice, ArRobotPacket *> myPacketHandler;
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ArTime myLastReading;
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AREXPORT void processReadings(void);
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double myCumulativeMaxRange;
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double myFilterNearDist;
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double myFilterFarDist;
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std::map<int, ArSensorReading *> myIrrfReadings;
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};
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#endif // ARIRRFDEVICE_H
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