Revision a2e6bd4c scout/scoutsim/src/scout.h

View differences:

scout/scoutsim/src/scout.h
55 55
#include <motors/set_motors.h>
56 56
#include <encoders/query_encoders.h>
57 57
#include <linesensor/query_linesensor.h>
58
#include <sonar/sonar_distance.h>
58 59

  
59 60
#include <scoutsim/Pose.h>
60 61
#include <scoutsim/SetPen.h>
......
65 66
#include <wx/wx.h>
66 67

  
67 68
#include "scoutsim_internal.h"
68

  
69
//#include "scout_constants.h"
69
#include "scout_constants.h"
70 70

  
71 71
#define PI 3.14159265
72 72

  
......
115 115
            geometry_msgs::Pose2D update(double dt, wxMemoryDC& path_dc,
116 116
                                         const wxImage& path_image,
117 117
                                         const wxImage& lines_image,
118
                                         const wxImage& walls_image,
118 119
                                         wxColour background_color,
119 120
                                         world_state state);
120 121
            void paint(wxDC& dc);
......
128 129
                                         encoders::query_encoders::Response&);
129 130
            bool query_linesensor_callback(linesensor::query_linesensor::Request&,
130 131
                                           linesensor::query_linesensor::Response&);
131
            unsigned int rgb_to_linesensor_val(unsigned char r,
132
                                               unsigned char g,
133
                                               unsigned char b);
134
            void update_linesensor(const wxImage& lines_image, int x, int y, double theta);
132
            unsigned int rgb_to_grey(unsigned char r,
133
                                     unsigned char g,
134
                                     unsigned char b);
135
            unsigned int trace_sonar(const wxImage& walls_image, int x, int y,
136
                                     double robot_theta, int sonar_pos);
137
            void update_sonar(const wxImage& walls_image, int x, int y,
138
                              double robot_theta);
139
            void update_linesensor(const wxImage& lines_image, int x, int y,
140
                                   double theta);
135 141

  
136 142
            ros::NodeHandle node;
137 143

  
......
155 161
            unsigned int bl_ticks;
156 162
            unsigned int br_ticks;
157 163

  
164
            int sonar_position;
165
            int sonar_stop_l;
166
            int sonar_stop_r;
167
            int sonar_direction;
168
            // The last time the sonar changed its position.
169
            ros::Time last_sonar_time;
170
            ros::Duration sonar_tick_time;
171

  
158 172
            // A vector of the 8 linesensor readings
159 173
            std::vector<unsigned int> linesensor_readings;
160 174

  
......
167 181
            ros::Subscriber motors_sub;
168 182
            ros::Publisher pose_pub;
169 183
            ros::Publisher color_pub;
184
            ros::Publisher sonar_pub;
170 185
            ros::ServiceServer set_pen_srv;
171 186
            ros::ServiceServer query_encoders_srv;
172 187
            ros::ServiceServer query_linesensor_srv;

Also available in: Unified diff