Revision 6639ce9c scout/scoutsim/src/scout.h

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scout/scoutsim/src/scout.h
109 109
    class Scout
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    {
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        public:
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            Scout(const ros::NodeHandle& nh, const wxImage& scout_image,
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                  const Vector2& pos, float orient);
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            Scout(const ros::NodeHandle& nh,const wxImage& scout_image,
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                  const Vector2& pos, wxBitmap *path_bitmap, float orient);
114 114

  
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            geometry_msgs::Pose2D update(double dt, wxMemoryDC& path_dc,
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					wxMemoryDC& sonar_dc,
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                                         const wxImage& path_image,
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                                         const wxImage& lines_image,
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                                         const wxImage& walls_image,
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                                         wxColour background_color,
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         				 wxColour sonar_color,
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                                         world_state state);
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            void paint(wxDC& dc);
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......
132 134
                                     unsigned char g,
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                                     unsigned char b);
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            unsigned int trace_sonar(const wxImage& walls_image, int x, int y,
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                                     double robot_theta, int sonar_pos);
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                                     double robot_theta, int sonar_pos,wxMemoryDC& sonar_dc);
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            void update_sonar(const wxImage& walls_image, int x, int y,
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                              double robot_theta);
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                              double robot_theta, wxMemoryDC& sonar_dc);
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            void update_linesensor(const wxImage& lines_image, int x, int y,
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                                   double theta);
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	    int old_dx;
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	    int old_dy;
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	    wxBitmap *path_bitmap;
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            ros::NodeHandle node;
142 147

  

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