with class
Dependencies: ISR_Mini-explorer mbed
Fork of VirtualForces by
Diff: Sonar.hpp
- Revision:
- 33:814bcd7d3cfe
- Child:
- 34:c208497dd079
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Sonar.hpp Fri Jun 09 00:28:32 2017 +0000 @@ -0,0 +1,33 @@ +#ifndef SONAR_HPP +#define SONAR_HPP + +#include "MiniExplorerCoimbra.hpp" + +class Sonar { + +public: + float maxRange;//cm + float minRange;//Rmin cm + float incertitudeRange;//cm + float angleRange;//Omega rad + float angleFromCenter; + float distanceX; + float distanceY; + + + Sonar(float anlgeFromCenter, float distanceXRobot, float distanceYRobot ); + + //ODOMETRIA MUST HAVE BEEN CALLED + //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] + float compute_probability_t(float distanceObstacleDetected, float x, float y, float robotCoordinateXWorld, float robotCoordinateYWorld); + + //returns the angle between the vectors (x,y) and (xs,ys) + float compute_angle_between_vectors(float x, float y,float xs,float ys); + + //makes the angle inAngle between 0 and 2pi + float rad_angle_check(float inAngle); + +}; + +#endif +