Diff: Sonar.hpp

Revision:

34:c208497dd079

Parent:

33:814bcd7d3cfe

Child:

35:68f9edbb3cff

--- a/Sonar.hpp	Fri Jun 09 00:28:32 2017 +0000
+++ b/Sonar.hpp	Fri Jun 09 14:30:21 2017 +0000
@@ -1,7 +1,7 @@
 #ifndef SONAR_HPP
 #define SONAR_HPP
 
-#include "MiniExplorerCoimbra.hpp"
+#include<math.h>
 
 class Sonar {
 
@@ -15,11 +15,11 @@
 	float distanceY;
 	
 
-	Sonar(float anlgeFromCenter, float distanceXRobot, float distanceYRobot );
+	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 x, float y, float robotCoordinateXWorld, float robotCoordinateYWorld);
+	float compute_probability_t(float distanceObstacleDetected, float xCell, float yCell, float xRobotWorld, float yRobotWorld, float theta);
 
 	//returns the angle between the vectors (x,y) and (xs,ys)
 	float compute_angle_between_vectors(float x, float y,float xs,float ys);