Yo Fleyt / Mbed 2 deprecated roboticLab_withclass_3_July

test morning

Dependencies:   ISR_Mini-explorer mbed

Fork of roboticLab_withclass_3_July by Georgios Tsamis

Sonar.hpp@14:696187e74411, 2017-07-12 (annotated)

Committer:
Ludwigfr
Date:
Wed Jul 12 18:08:07 2017 +0000
Revision:
14:696187e74411
Parent:
3:37345c109dfc 
lol

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 3:37345c109dfc 19
Ludwigfr 3:37345c109dfc 20 void setMaxRange(float newMaxRange);
Ludwigfr 3:37345c109dfc 21
Ludwigfr 0:9f7ee7ed13e4 22 float compute_probability_t(float distanceObstacleDetected, float xCell, float yCell, float xRobotWorld, float yRobotWorld, float theta);
Ludwigfr 0:9f7ee7ed13e4 23
Ludwigfr 0:9f7ee7ed13e4 24 //return distance sonar to cell if in range, -1 if not
Ludwigfr 0:9f7ee7ed13e4 25 float isInRange(float xCell, float yCell, float xRobotWorld, float yRobotWorld, float thetaWorld);
Ludwigfr 0:9f7ee7ed13e4 26
Ludwigfr 0:9f7ee7ed13e4 27 private:
Ludwigfr 0:9f7ee7ed13e4 28
Ludwigfr 0:9f7ee7ed13e4 29 //returns the angle between the vectors (x,y) and (xs,ys)
Ludwigfr 0:9f7ee7ed13e4 30 float compute_angle_between_vectors(float x, float y,float xs,float ys);
Ludwigfr 0:9f7ee7ed13e4 31
Ludwigfr 0:9f7ee7ed13e4 32 //makes the angle inAngle between 0 and 2pi
Ludwigfr 0:9f7ee7ed13e4 33 float rad_angle_check(float inAngle);
Ludwigfr 0:9f7ee7ed13e4 34
Ludwigfr 0:9f7ee7ed13e4 35 };
Ludwigfr 0:9f7ee7ed13e4 36
Ludwigfr 0:9f7ee7ed13e4 37 #endif
Ludwigfr 0:9f7ee7ed13e4 38