?? sonardevice.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 sonar ring. * Author: Andrew Howard, Richard Vaughan * Date: 28 Nov 2000 * CVS info: $Id: sonardevice.hh,v 1.3 2002/11/07 00:02:27 rtv Exp $ */#ifndef SONARDEVICE_HH#define SONARDEVICE_HH#include "playerdevice.hh"#include "world.hh"#include "library.hh"#define SONARSAMPLES PLAYER_SONAR_MAX_SAMPLESenum SonarReturn { SonarTransparent=0, SonarOpaque };class CSonarDevice : public CPlayerEntity{ // Default constructor public: CSonarDevice( 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 CSonarDevice* Creator( LibraryItem *libit, CWorld *world, CEntity *parent ) { return( new CSonarDevice( 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(); // Maximum range of sonar in meters private: double min_range; private: double max_range; // Array holding the sonar poses public: int sonar_count; public: double sonars[SONARSAMPLES][3]; public: bool power_on; // Structure holding the sonar data private: player_sonar_data_t data; //protected: virtual size_t PutData( void* vdata, size_t len );#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(); // For drawing the sonar beams private: rtk_fig_t *scan_fig;#endif};#endif
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