/* *  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