?? bumperdevice.hh
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/* * Stage : a multi-robot simulator. * Copyright (C) 2001, 2002 Richard Vaughan, Andrew Howard and Brian Gerkey. * * This program is free software; you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by * the Free Software Foundation; either version 2 of the License, or * (at your option) any later version. * * This program is distributed in the hope that it will be useful, * but WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * GNU General Public License for more details. * * You should have received a copy of the GNU General Public License * along with this program; if not, write to the Free Software * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA * *//* * Desc: Simulates a set of binary bumper sensors that can be used as * bumpers and whiskers. bumpers are triggered by obstacles. * Author: Richard Vaughan * Date: 30 Oct 2002 * CVS info: $Id: bumperdevice.hh,v 1.1 2002/10/27 * 21:46:13 rtv Exp $ */#ifndef BUMPERDEVICE_HH#define BUMPERDEVICE_HH#include "playerdevice.hh"#include "world.hh"#include "library.hh"/* defines the params for a bumper *//* this is a mirror of the player packet, but in stage native formats */typedef struct { /* the local pose of a single bumper in meters */ double x_offset, y_offset, th_offset; /* length of the sensor in meters. */ double length; /* radius of curvature - zero for straight lines */ double radius; } stage_bumper_definition_t;class CBumperDevice : public CPlayerEntity{ // Default constructor public: CBumperDevice( LibraryItem *libit, CWorld *world, CEntity *parent); // a static named constructor - a pointer to this function is given // to the Library object and paired with a string. When the string // is seen in the worldfile, this function is called to create an // instance of this entitypublic: static CBumperDevice* Creator( LibraryItem *libit, CWorld *world, CEntity *parent ) { return( new CBumperDevice( libit, world, parent ) ); } // Startup routine public: virtual bool Startup(); // Load the entity from the world file public: virtual bool Load(CWorldFile *worldfile, int section); // Update the device public: virtual void Update(double sim_time); // Process configuration requests. private: void UpdateConfig(); public: int bumper_count; // Array holding the bumper configurationspublic: stage_bumper_definition_t bumpers[ PLAYER_BUMPER_MAX_SAMPLES ]; // a similer array, but with coords transformed for raytracing // and in native stage coordspublic: stage_bumper_definition_t scanlines[ PLAYER_BUMPER_MAX_SAMPLES ];#ifdef INCLUDE_RTK2 // Initialise the rtk gui protected: virtual void RtkStartup(); // Finalise the rtk gui protected: virtual void RtkShutdown(); // Update the rtk gui protected: virtual void RtkUpdate();protected: void RtkRenderBumper( rtk_fig_t* fig, int bumper ); // For drawing the bumper beams private: rtk_fig_t *scan_fig;#endif};#endif // BUMPERDEVICE_HH
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