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authorNicolas Schodet2013-03-31 19:28:24 +0200
committerNicolas Schodet2013-03-31 19:28:24 +0200
commitb3392b2c9b5e808e868b092422d7b143a82c4628 (patch)
tree0586a54f57e5b392aae8839acf5e2e5e9698c207 /digital/io-hub/src/common-cc/obstacles.hh
parent3adb1db9e53ab8d33f25913376c8172d48253e34 (diff)
digital/io-hub/src/apbirthday: add radar system and obstacles handling
Diffstat (limited to 'digital/io-hub/src/common-cc/obstacles.hh')
-rw-r--r--digital/io-hub/src/common-cc/obstacles.hh68
1 files changed, 68 insertions, 0 deletions
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+#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"
+
+/// 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) const;
+ 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 unvalid.
+ int valid;
+ };
+ /// Number of obstacles.
+ static const int obstacles_nb_ = 4;
+ /// Obstacles array.
+ Obstacle obstacles_[obstacles_nb_];
+};
+
+#endif // obstacles_hh