#ifndef obstacles_hh #define obstacles_hh // io-hub - Modular Input/Output. {{{ // // Copyright (C) 2013 Nicolas Schodet // // APBTeam: // Web: http://apbteam.org/ // Email: team AT apbteam DOT org // // This program is free software; you can redistribute it and/or modify // it under the terms of the GNU General Public License as published by // the Free Software Foundation; either version 2 of the License, or // (at your option) any later version. // // This program is distributed in the hope that it will be useful, // but WITHOUT ANY WARRANTY; without even the implied warranty of // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the // GNU General Public License for more details. // // You should have received a copy of the GNU General Public License // along with this program; if not, write to the Free Software // Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. // // }}} #include "defs.hh" #include "path.hh" /// Handle obstacles "database". /// /// At each cycle, obstacle detections can come and go. This class will keep /// tracks of previously seen obstacles, and merge new detection events with /// past history. /// /// This class also decide if an obstacle is in the robot way. class Obstacles { public: /// Constructor. Obstacles (); /// To be called at each cycle. void update (); /// Add an obstacle detection. void add (const vect_t &pos); /// Return true if there is an obstacle near the robot while going to a /// destination point. bool blocking (const vect_t &robot, const vect_t &dest, int stop_mm_ = -1) const; /// Setup obstacles in path finding object. void add_obstacles (Path &path) const; public: /// Estimated obstacle radius. The obstacle may be larger than at the /// detected edge. static const int obstacle_radius_mm = 150; /// Stop distance. Distance under which an obstacle is considered harmful /// when moving. static const int stop_mm = 350; /// Clearance distance. Distance over which an obstacle should be to the /// side when moving. /// /// OK, more explanations: when moving, a rectangle is placed in front of /// the robot, of length STOP_MM and width 2 * (CLEARANCE_MM + /// BOT_SIZE_SIDE). If an obstacle is inside this rectangle, it is /// considered in the way. /// /// If the destination point is near (< STOP_MM), this reduce the /// rectangle length. /// /// If the destination is really near (< EPSILON_MM), ignore all this. static const int clearance_mm = 100; /// Destination distance near enough so that obstacles could be ignored. static const int epsilon_mm = 70; private: /// Validity period of a new obstacle. static const int valid_new_ = 125; /// Distance under which obstacles are considered the same. static const int same_mm_ = 150; /// Set when changed since last update. bool changed_; /// Single obstacle. struct Obstacle { /// Position. vect_t pos; /// Validity period as a number of cycles, or 0 if invalid. int valid; }; /// Number of obstacles. static const int obstacles_nb_ = 4; /// Obstacles array. Obstacle obstacles_[obstacles_nb_]; }; #endif // obstacles_hh