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lab robotic coimbra
Dependencies: ISR_Mini-explorer mbed
Sonar.hpp
- Committer:
- Ludwigfr
- Date:
- 2017-06-26
- Revision:
- 0:9f7ee7ed13e4
File content as of revision 0:9f7ee7ed13e4:
#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; //the distance are in the world coordinates 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) 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