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