/usr/include/Aria/ArSonarDevice.h is in libaria-dev 2.8.0+repack-1.2.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 | /*
Adept MobileRobots Robotics Interface for Applications (ARIA)
Copyright (C) 2004, 2005 ActivMedia Robotics LLC
Copyright (C) 2006, 2007, 2008, 2009, 2010 MobileRobots Inc.
Copyright (C) 2011, 2012, 2013 Adept Technology
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
If you wish to redistribute ARIA under different terms, contact
Adept MobileRobots for information about a commercial version of ARIA at
robots@mobilerobots.com or
Adept MobileRobots, 10 Columbia Drive, Amherst, NH 03031; +1-603-881-7960
*/
#ifndef ARSONARDEVICE_H
#define ARSONARDEVICE_H
#include "ariaTypedefs.h"
#include "ArRangeDevice.h"
#include "ArFunctor.h"
#include "ArRobot.h"
/// Keep track of recent sonar readings from a robot as an ArRangeDevice
/**
This class is for keeping a sonar history, which you may use for obstacle
avoidance, display, etc.
Simply use ArRobot::addRangeDevice() (or ArSonarDevice::setRobot())
to attach an ArSonarDevice object to an ArRobot
robot object; ArSonarDevice will add a Sensor Interpretation task to the
ArRobot which will read new sonar readings each robot cycle and add
them to its sonar history.
(Note that sonar range readings are from the surface of the sonar transducer disc,
not from the center of the robot.)
@ingroup ImportantClasses
@ingroup DeviceClasses
*/
class ArSonarDevice : public ArRangeDevice
{
public:
/// Constructor
AREXPORT ArSonarDevice(size_t currentBufferSize = 24,
size_t cumulativeBufferSize = 64,
const char * name = "sonar");
/// Destructor
AREXPORT virtual ~ArSonarDevice();
/// Grabs the new readings from the robot and adds them to the buffers
/// (Primarily for internal use.)
AREXPORT void processReadings(void);
/// Sets the robot pointer, also attaches its process function to the
/// robot as a Sensor Interpretation task.
AREXPORT virtual void setRobot(ArRobot *robot);
/// Adds sonar readings to the current and cumulative buffers
/// Overrides the ArRangeDevice default action.
/// (This method is primarily for internal use.)
AREXPORT virtual void addReading(double x, double y);
/// Sets a callback which if it returns true will ignore the reading
AREXPORT void setIgnoreReadingCB(ArRetFunctor1<bool, ArPose> *ignoreReadingCB);
/// Gets the callback which if it returns true will ignore the reading
AREXPORT ArRetFunctor1<bool, ArPose> *getIgnoreReadingCB(void)
{ return myIgnoreReadingCB; }
/** @deprecated
* @sa ArRangeDevice::setMaxDistToKeepCumulative()
*/
AREXPORT void setCumulativeMaxRange(double range)
{ setMaxDistToKeepCumulative(range); }
protected:
ArFunctorC<ArSonarDevice> myProcessCB;
double myFilterNearDist; // we throw out cumulative readings this close to current one
double myFilterFarDist; // throw out cumulative readings beyond this far from robot
ArRetFunctor1<bool, ArPose> *myIgnoreReadingCB;
};
#endif // ARSONARDEVICE_H
|