Revision ade1b7f9
| ID | ade1b7f9e6aee15cde7890ca6330f9cd57e118b5 |
Basic line sensor readings!
| 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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Also available in: Unified diff