Yo Fleyt / Mbed 2 deprecated VirtualForces_with_class

with class

Dependencies:   ISR_Mini-explorer mbed

Fork of VirtualForces by Georgios Tsamis

Sonar.hpp@34:c208497dd079, 2017-06-09 (annotated)

Committer:
Ludwigfr
Date:
Fri Jun 09 14:30:21 2017 +0000
Revision:
34:c208497dd079
Parent:
33:814bcd7d3cfe
Child:
35:68f9edbb3cff
okay it compiles

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Ludwigfr 33:814bcd7d3cfe 1 #ifndef SONAR_HPP
Ludwigfr 33:814bcd7d3cfe 2 #define SONAR_HPP
Ludwigfr 33:814bcd7d3cfe 3
Ludwigfr 34:c208497dd079 4 #include<math.h>
Ludwigfr 33:814bcd7d3cfe 5
Ludwigfr 33:814bcd7d3cfe 6 class Sonar {
Ludwigfr 33:814bcd7d3cfe 7
Ludwigfr 33:814bcd7d3cfe 8 public:
Ludwigfr 33:814bcd7d3cfe 9 float maxRange;//cm
Ludwigfr 33:814bcd7d3cfe 10 float minRange;//Rmin cm
Ludwigfr 33:814bcd7d3cfe 11 float incertitudeRange;//cm
Ludwigfr 33:814bcd7d3cfe 12 float angleRange;//Omega rad
Ludwigfr 33:814bcd7d3cfe 13 float angleFromCenter;
Ludwigfr 33:814bcd7d3cfe 14 float distanceX;
Ludwigfr 33:814bcd7d3cfe 15 float distanceY;
Ludwigfr 33:814bcd7d3cfe 16
Ludwigfr 33:814bcd7d3cfe 17
Ludwigfr 34:c208497dd079 18 Sonar(float anlgeFromCenter, float distanceXFromRobotCenter, float distanceYFromRobotCenter );
Ludwigfr 33:814bcd7d3cfe 19
Ludwigfr 33:814bcd7d3cfe 20 //ODOMETRIA MUST HAVE BEEN CALLED
Ludwigfr 33:814bcd7d3cfe 21 //function that check if a cell A(x,y) is in the range of the front sonar S(xs,ys) (with an angle depending on the sonar used, front 0, left pi/3, right -pi/3) returns the probability it's occupied/empty [0;1]
Ludwigfr 34:c208497dd079 22 float compute_probability_t(float distanceObstacleDetected, float xCell, float yCell, float xRobotWorld, float yRobotWorld, float theta);
Ludwigfr 33:814bcd7d3cfe 23
Ludwigfr 33:814bcd7d3cfe 24 //returns the angle between the vectors (x,y) and (xs,ys)
Ludwigfr 33:814bcd7d3cfe 25 float compute_angle_between_vectors(float x, float y,float xs,float ys);
Ludwigfr 33:814bcd7d3cfe 26
Ludwigfr 33:814bcd7d3cfe 27 //makes the angle inAngle between 0 and 2pi
Ludwigfr 33:814bcd7d3cfe 28 float rad_angle_check(float inAngle);
Ludwigfr 33:814bcd7d3cfe 29
Ludwigfr 33:814bcd7d3cfe 30 };
Ludwigfr 33:814bcd7d3cfe 31
Ludwigfr 33:814bcd7d3cfe 32 #endif
Ludwigfr 33:814bcd7d3cfe 33