Revision c63c9752 scout/scoutsim/src/scout.h

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scout/scoutsim/src/scout.h
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#define PI 3.14159265
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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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                                     unsigned char g,
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                                     unsigned char b);
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            unsigned int trace_sonar(const wxImage& walls_image, int x, int y,
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                                     double robot_theta, int sonar_pos,wxMemoryDC& sonar_dc, bool sonar_on);
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                                     double robot_theta, int sonar_pos,
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                                     wxMemoryDC& sonar_dc, bool sonar_on);
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            void update_sonar(const wxImage& walls_image, int x, int y,
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                              double robot_theta, wxMemoryDC& sonar_dc,bool sonar_on);
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            void update_linesensor(const wxImage& lines_image, int x, int y,
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                                   double theta);
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	    int old_front_dx;
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	    int old_front_dy;
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	    int old_back_dx;
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	    int old_back_dy;
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	    bool isFront;
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            int old_front_dx;
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            int old_front_dy;
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            int old_back_dx;
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            int old_back_dy;
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            bool isFront;
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	    wxBitmap *path_bitmap;
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	    bool sonar_on;
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            wxBitmap *path_bitmap;
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            bool sonar_on;
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            ros::NodeHandle node;
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......
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            int sonar_stop_l;
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            int sonar_stop_r;
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            int sonar_direction;
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            // The last time the sonar changed its position.
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            ros::Time last_sonar_time;
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            ros::Duration sonar_tick_time;
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            ros::ServiceServer query_linesensor_srv;
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            ros::WallTime last_command_time;
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            float meter;
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    };
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    typedef boost::shared_ptr<Scout> ScoutPtr;
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}
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#endif

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