Yo Fleyt / Mbed 2 deprecated roboticLab_withclass

lab robotic coimbra

Dependencies:   ISR_Mini-explorer mbed

Sonar.hpp@0:9f7ee7ed13e4, 2017-06-26 (annotated)

Committer:
Ludwigfr
Date:
Mon Jun 26 12:05:20 2017 +0000
Revision:
0:9f7ee7ed13e4
this version should work, though it would be nice to test all the lab demo; there's also some code on the 4th lab at the end of MiniExplorerCoimbra.cpp

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Ludwigfr 0:9f7ee7ed13e4 1 #ifndef SONAR_HPP
Ludwigfr 0:9f7ee7ed13e4 2 #define SONAR_HPP
Ludwigfr 0:9f7ee7ed13e4 3
Ludwigfr 0:9f7ee7ed13e4 4 #include<math.h>
Ludwigfr 0:9f7ee7ed13e4 5
Ludwigfr 0:9f7ee7ed13e4 6 class Sonar {
Ludwigfr 0:9f7ee7ed13e4 7
Ludwigfr 0:9f7ee7ed13e4 8 public:
Ludwigfr 0:9f7ee7ed13e4 9 float maxRange;//cm
Ludwigfr 0:9f7ee7ed13e4 10 float minRange;//Rmin cm
Ludwigfr 0:9f7ee7ed13e4 11 float incertitudeRange;//cm
Ludwigfr 0:9f7ee7ed13e4 12 float angleRange;//Omega rad
Ludwigfr 0:9f7ee7ed13e4 13 float angleFromCenter;
Ludwigfr 0:9f7ee7ed13e4 14 float distanceX;
Ludwigfr 0:9f7ee7ed13e4 15 float distanceY;
Ludwigfr 0:9f7ee7ed13e4 16
Ludwigfr 0:9f7ee7ed13e4 17 //the distance are in the world coordinates
Ludwigfr 0:9f7ee7ed13e4 18 Sonar(float angleFromCenter, float distanceXFromRobotCenter, float distanceYFromRobotCenter );
Ludwigfr 0:9f7ee7ed13e4 19
Ludwigfr 0:9f7ee7ed13e4 20 float compute_probability_t(float distanceObstacleDetected, float xCell, float yCell, float xRobotWorld, float yRobotWorld, float theta);
Ludwigfr 0:9f7ee7ed13e4 21
Ludwigfr 0:9f7ee7ed13e4 22 //return distance sonar to cell if in range, -1 if not
Ludwigfr 0:9f7ee7ed13e4 23 float isInRange(float xCell, float yCell, float xRobotWorld, float yRobotWorld, float thetaWorld);
Ludwigfr 0:9f7ee7ed13e4 24
Ludwigfr 0:9f7ee7ed13e4 25 private:
Ludwigfr 0:9f7ee7ed13e4 26
Ludwigfr 0:9f7ee7ed13e4 27 //returns the angle between the vectors (x,y) and (xs,ys)
Ludwigfr 0:9f7ee7ed13e4 28 float compute_angle_between_vectors(float x, float y,float xs,float ys);
Ludwigfr 0:9f7ee7ed13e4 29
Ludwigfr 0:9f7ee7ed13e4 30 //makes the angle inAngle between 0 and 2pi
Ludwigfr 0:9f7ee7ed13e4 31 float rad_angle_check(float inAngle);
Ludwigfr 0:9f7ee7ed13e4 32
Ludwigfr 0:9f7ee7ed13e4 33 };
Ludwigfr 0:9f7ee7ed13e4 34
Ludwigfr 0:9f7ee7ed13e4 35 #endif
Ludwigfr 0:9f7ee7ed13e4 36