Diff: Sonar.cpp

Revision:

3:37345c109dfc

Parent:

2:11cd5173aa36

Child:

12:1e80471c5c6c

--- a/Sonar.cpp	Wed Jul 05 08:56:12 2017 +0000
+++ b/Sonar.cpp	Thu Jul 06 11:36:18 2017 +0000
@@ -12,6 +12,9 @@
 	this->angleRange=3.14159/3;//Omega rad
 }
 
+void Sonar::setMaxRange(float newMaxRange){
+	this->maxRange=newMaxRange;
+}
 //return distance sonar to cell if in range, -1 if not
 float Sonar::isInRange(float xCell, float yCell, float xRobotWorld, float yRobotWorld, float thetaWorld){
 	float xSonar=xRobotWorld+this->distanceX;
@@ -48,7 +51,7 @@
         //float anglePointToSonar=this->compute_angle_between_vectors(xCell,yCell,xSonar,ySonar);//angle beetween the point and the sonar beam
         float anglePointToSonar=atan2(yCell-yRobotWorld,xCell-xRobotWorld);//like world system
         
-       	       	float angleOriginToMidleOfBeam=thetaWorld+this->angleFromCenter;//
+       	float angleOriginToMidleOfBeam=thetaWorld+this->angleFromCenter;//
 
         float angleDifference=anglePointToSonar-angleOriginToMidleOfBeam;
         if(angleDifference > PI)