with class
Dependencies: ISR_Mini-explorer mbed
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Sonar.hpp
- Committer:
- Ludwigfr
- Date:
- 2017-06-09
- Revision:
- 34:c208497dd079
- Parent:
- 33:814bcd7d3cfe
- Child:
- 35:68f9edbb3cff
File content as of revision 34:c208497dd079:
#ifndef SONAR_HPP #define SONAR_HPP #include<math.h> 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 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); //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