with class
Dependencies: ISR_Mini-explorer mbed
Fork of VirtualForces by
Diff: Sonar.hpp
- Revision:
- 38:5ed7c79fb724
- Parent:
- 37:b4c45e43ad29
--- a/Sonar.hpp Sun Jun 11 23:22:28 2017 +0000 +++ b/Sonar.hpp Thu Jun 15 23:17:55 2017 +0000 @@ -10,15 +10,18 @@ float minRange;//Rmin cm float incertitudeRange;//cm float angleRange;//Omega rad - float angleFromOrigin; + float angleFromCenter; float distanceX; float distanceY; //the distance are in the world coordinates - Sonar(float angleFromOrigin, float distanceXFromRobotCenter, float distanceYFromRobotCenter ); + Sonar(float angleFromCenter, float distanceXFromRobotCenter, float distanceYFromRobotCenter ); float compute_probability_t(float distanceObstacleDetected, float xCell, float yCell, float xRobotWorld, float yRobotWorld, float theta); + //return distance sonar to cell if in range, -1 if not + float isInRange(float xCell, float yCell, float xRobotWorld, float yRobotWorld, float thetaWorld); + private: //returns the angle between the vectors (x,y) and (xs,ys)