Revision c492be62
| ID | c492be629f06e3cf71fdf832ce2cd5ac1ec779f8 |
Updated the licensing information in many files.
This is a broken commit because I decided to do this at a bad time. Sorry! The build will be working after next commit, I promise (and I won't push till then). This commit reflects the licensing in the files after I used my auto-add/remove script.
| scout/libscout/src/SonarControl.h | ||
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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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*/ |
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/** |
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* @file SonarControl.h |
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{
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public: |
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/** Set up the motor node and prepare to communicate over ROS */ |
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SonarControl(const ros::NodeHandle& libscout_node); |
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SonarControl(const ros::NodeHandle& libscout_node, |
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std::string scoutname); |
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/** Sets sonar to a position (0-180 deg) specified by input */ |
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void set(int position); |
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void set_single(int position);
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/** Sets sonar to scan a range in 0-180 specified by input */ |
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void set_range(int start_pos, int end_pos); |
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/** Stops sonar from panning and taking readings */ |
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void set_off(); |
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/** Returns the distance readings of sonars */ |
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float query_front(void); |
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float query_back(void); |
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/** Stops sonar from panning and taking readings */ |
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void set_off(); |
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private: |
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/** Converts between values output by sensor and physical distances */ |
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float sonar_to_dist(float sonar_value); |
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float dist_to_sonar(float distance); |
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/** Record the new sonar distance measurement */ |
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void distance_callback(const sonar::sonar_distance::ConstPtr& msg); |
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/* Front and back distance values read by sonar. */
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float front_dist;
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float back_dist;
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/** Converts between values output by sensor and physical distances */
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//float sonar_to_dist(float sonar_value);
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//float dist_to_sonar(float distance);
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/** ROS publisher and client declaration */
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/* ROS publisher and client declaration */ |
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ros::Publisher sonar_set_scan_pub; |
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ros::Publisher sonar_toggle_pub; |
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ros::ServiceClient query_sonar;
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ros::Subscriber sonar_distance_sub;
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ros::NodeHandle node; |
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}; |
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