Revision 68b23184
| ID | 68b23184aa0f17dabaef999c99dd25e009fb3af5 |
Scoutsim: Added Sonar Toggle
Sonar display can now be toggled via Menu->Sim->Sonar
| scout/scoutsim/src/scout.h | ||
|---|---|---|
| 113 | 113 |
const Vector2& pos, wxBitmap *path_bitmap, float orient); |
| 114 | 114 |
|
| 115 | 115 |
geometry_msgs::Pose2D update(double dt, wxMemoryDC& path_dc, |
| 116 |
wxMemoryDC& sonar_dc, |
|
| 116 |
wxMemoryDC& sonar_dc, |
|
| 117 |
bool sonar_on, |
|
| 117 | 118 |
const wxImage& path_image, |
| 118 | 119 |
const wxImage& lines_image, |
| 119 | 120 |
const wxImage& walls_image, |
| ... | ... | |
| 134 | 135 |
unsigned char g, |
| 135 | 136 |
unsigned char b); |
| 136 | 137 |
unsigned int trace_sonar(const wxImage& walls_image, int x, int y, |
| 137 |
double robot_theta, int sonar_pos,wxMemoryDC& sonar_dc); |
|
| 138 |
double robot_theta, int sonar_pos,wxMemoryDC& sonar_dc, bool sonar_on);
|
|
| 138 | 139 |
void update_sonar(const wxImage& walls_image, int x, int y, |
| 139 |
double robot_theta, wxMemoryDC& sonar_dc); |
|
| 140 |
double robot_theta, wxMemoryDC& sonar_dc,bool sonar_on);
|
|
| 140 | 141 |
void update_linesensor(const wxImage& lines_image, int x, int y, |
| 141 | 142 |
double theta); |
| 142 | 143 |
int old_dx; |
| 143 | 144 |
int old_dy; |
| 144 | 145 |
wxBitmap *path_bitmap; |
| 146 |
bool sonar_on; |
|
| 145 | 147 |
|
| 146 | 148 |
ros::NodeHandle node; |
| 147 | 149 |
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