root / scout / libscout / src / SonarControl.h @ 65c7f52b
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1 | 65c7f52b | pdeo | /**
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2 | * Copyright (c) 2011 Colony Project
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3 | *
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4 | * Permission is hereby granted, free of charge, to any person
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5 | * obtaining a copy of this software and associated documentation
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6 | * files (the "Software"), to deal in the Software without
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7 | * restriction, including without limitation the rights to use,
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8 | * copy, modify, merge, publish, distribute, sublicense, and/or sell
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9 | * copies of the Software, and to permit persons to whom the
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10 | * Software is furnished to do so, subject to the following
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11 | * conditions:
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12 | *
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13 | * The above copyright notice and this permission notice shall be
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14 | * included in all copies or substantial portions of the Software.
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15 | *
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16 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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17 | * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
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18 | * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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19 | * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
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20 | * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
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21 | * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
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22 | * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
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23 | * OTHER DEALINGS IN THE SOFTWARE.
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24 | **/
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25 | |||
26 | /**
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27 | * @file SonarControl.h
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28 | * @brief Contains sonar declarations and functions
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29 | *
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30 | * Contains functions and definitions for the use of
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31 | * sonar
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32 | *
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33 | * @author Colony Project, CMU Robotics Club
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34 | * @author Priyanka Deo
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35 | **/
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36 | |||
37 | #ifndef _SONAR_CONTROL_H_
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38 | #define _SONAR_CONTROL_H_
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39 | |||
40 | #include <ros/ros.h> |
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41 | /// @TODO maybe not so good! Then packages have to depend on libscout.
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42 | #include <libscout/constants.h> |
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43 | #include <sonar/sonar_set_scan.h> |
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44 | #include <sonar/sonar_toggle.h> |
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45 | #include <sonar/sonar_direction.h> |
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46 | |||
47 | class SonarControl |
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48 | { |
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49 | public:
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50 | /** Set up the motor node and prepare to communicate over ROS */
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51 | SonarControl(const ros::NodeHandle& libscout_node);
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52 | |||
53 | /** Sets sonar to a position (0-180 deg) specified by input */
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54 | void set(int position); |
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55 | |||
56 | /** Sets sonar to scan a range in 0-180 specified by input */
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57 | void set_range(int start_pos, int end_pos); |
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58 | |||
59 | /** Returns the distance readings of sonars */
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60 | float query_front(void); |
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61 | float query_back(void); |
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62 | |||
63 | private:
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64 | /** Converts between values outputted by sensor and physical distances */
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65 | float sonar_to_dist(float sonar_value); |
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66 | float dist_to_sonar(float distance); |
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67 | |||
68 | /* Front and back distance values read by sonar. */
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69 | float front_dist;
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70 | float back_dist;
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71 | |||
72 | /** ROS publisher and client declaration */
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73 | ros::Publisher sonar_set_scan_pub; |
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74 | ros::Publisher sonar_toggle_pub; |
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75 | ros::ServiceClient query_sonar; |
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76 | |||
77 | ros::NodeHandle node; |
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78 | |||
79 | }; |
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80 | |||
81 | #endif
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