Diff: Sonar.hpp

Revision:

36:b59d56d0b3b4

Parent:

35:68f9edbb3cff

Child:

37:b4c45e43ad29

--- a/Sonar.hpp	Sun Jun 11 22:40:37 2017 +0000
+++ b/Sonar.hpp	Sun Jun 11 22:53:59 2017 +0000
@@ -5,7 +5,7 @@
 
 class Sonar {
 
-public:
+	public:
 	float maxRange;//cm
 	float minRange;//Rmin cm
 	float incertitudeRange;//cm
@@ -17,10 +17,10 @@
 	//the distance are in the world coordinates
 	Sonar(float anlgeFromCenter, float distanceXFromRobotCenter, float distanceYFromRobotCenter );
 
-	//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 xCell, float yCell, float xRobotWorld, float yRobotWorld, float theta);
-
+	
+	private:
+	
 	//returns the angle between the vectors (x,y) and (xs,ys)
 	float compute_angle_between_vectors(float x, float y,float xs,float ys);