/* *  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