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/**
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 * Copyright (c) 2011 Colony Project
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 * 
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 * Permission is hereby granted, free of charge, to any person
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 * obtaining a copy of this software and associated documentation
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 * files (the "Software"), to deal in the Software without
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 * restriction, including without limitation the rights to use,
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 * copy, modify, merge, publish, distribute, sublicense, and/or sell
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 * copies of the Software, and to permit persons to whom the
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 * Software is furnished to do so, subject to the following
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 * conditions:
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 * 
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 * The above copyright notice and this permission notice shall be
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 * included in all copies or substantial portions of the Software.
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 * 
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 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
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 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
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 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
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 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
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 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
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 * OTHER DEALINGS IN THE SOFTWARE.
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 */
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#ifndef _APPR_EMITTER_H_
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#define _APPR_EMITTER_H_
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#include "../Behavior.h"
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#include "../Sensors.h"
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#include "../helper_classes/ScoutPosition.h"
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/* Details about map:
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 * 1 meter = 200 pixels
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 * 1 block is a 13x13 pixel section
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 * actual meter x meter map has 15 blocks in one row/column
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 * # blocks per robot map row = 2*(block per map's row)-1
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 */
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// number of blocks in one row/column of robot's map
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#define MAP_LENGTH 29
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class ApproachEmitter: public Behavior
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{
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    public:
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    ApproachEmitter(std::string scoutname, Sensors* sensors);
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    void run();
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    private:
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    int identifyPosition(std::vector<uint32_t> readings,
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                     std::vector<uint32_t> senders);
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    std::string name;
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    pos* scout_pos;
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    std::vector<uint8_t> LEFT;
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    std::vector<uint8_t> RIGHT;
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    std::vector<uint8_t> FRONT;
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    std::vector<uint8_t> BACK;
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};
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#endif