Revision eb9cff77 scout/scoutsim/src/scout.h

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scout/scoutsim/src/scout.h
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#include <encoders/query_encoders.h>
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#include <linesensor/query_linesensor.h>
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#include <sonar/sonar_distance.h>
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#include <sonar/sonar_toggle.h>
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#include <sonar/sonar_set_scan.h>
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#include <scoutsim/Pose.h>
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#include <scoutsim/SetPen.h>
......
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            geometry_msgs::Pose2D update(double dt, wxMemoryDC& path_dc,
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					 wxMemoryDC& sonar_dc,
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					 bool sonar_on,
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                     bool sonar_visual,
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                                         const wxImage& path_image,
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                                         const wxImage& lines_image,
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                                         const wxImage& walls_image,
......
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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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            bool handle_sonar_toggle(sonar::sonar_toggle::Request  &req,
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                                     sonar::sonar_toggle::Response &res);
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            bool handle_sonar_set_scan(sonar::sonar_set_scan::Request  &req,
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                                       sonar::sonar_set_scan::Response &res);
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            unsigned int rgb_to_grey(unsigned char r,
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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,wxMemoryDC& sonar_dc);
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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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                              double robot_theta, wxMemoryDC& sonar_dc);
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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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	    bool isFront;
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	    wxBitmap *path_bitmap;
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	    bool sonar_on;
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	    bool sonar_visual_on;
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        bool sonar_on;
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            ros::NodeHandle node;
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......
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            ros::ServiceServer set_pen_srv;
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            ros::ServiceServer query_encoders_srv;
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            ros::ServiceServer query_linesensor_srv;
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            ros::ServiceServer toggle_sonar_srv;
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            ros::ServiceServer set_sonar_srv;
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            ros::WallTime last_command_time;
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