Revision ade1b7f9 scout/scoutsim/src/scout.h

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scout/scoutsim/src/scout.h
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/// The scale factor so the speed of scout robots is reasonable for the sim
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#define SPEED_SCALE_FACTOR 0.05
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#define NUM_LINESENSORS 8
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// Distance, pixels, from center of robot to the linesensors.
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#define LNSNSR_D 20
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namespace scoutsim
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{
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    struct Vector2
......
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            geometry_msgs::Pose2D update(double dt, wxMemoryDC& path_dc,
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                                         const wxImage& path_image,
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                                         const wxImage& lines_image,
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                                         wxColour background_color,
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                                         world_state state);
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            void paint(wxDC& dc);
......
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                                         encoders::query_encoders::Response&);
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            bool query_linesensor_callback(linesensor::query_linesensor::Request&,
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                                           linesensor::query_linesensor::Response&);
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            unsigned int rgb_to_linesensor_val(unsigned char r,
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                                               unsigned char g,
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                                               unsigned char b);
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            void update_linesensor(const wxImage& lines_image, int x, int y, double theta);
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            ros::NodeHandle node;
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......
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            unsigned int bl_ticks;
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            unsigned int br_ticks;
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            // A vector of the 8 linesensor readings
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            std::vector<unsigned int> linesensor_readings;
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            // Each scout has a unique id number, which is also displayed on its image.
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            int scout_id;
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