summaryrefslogtreecommitdiff
path: root/digital/io-hub/src/common-cc/radar.cc
diff options
context:
space:
mode:
Diffstat (limited to 'digital/io-hub/src/common-cc/radar.cc')
-rw-r--r--digital/io-hub/src/common-cc/radar.cc101
1 files changed, 101 insertions, 0 deletions
diff --git a/digital/io-hub/src/common-cc/radar.cc b/digital/io-hub/src/common-cc/radar.cc
new file mode 100644
index 00000000..d7f2a96f
--- /dev/null
+++ b/digital/io-hub/src/common-cc/radar.cc
@@ -0,0 +1,101 @@
+// 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 "radar.hh"
+
+/// Maximum distance for a sensor reading to be ignored if another sensor is
+// nearer.
+static const int far_mm = 250;
+
+void
+Radar::update (const Position &robot_pos, Obstacles &obstacles)
+{
+ int i, j;
+ vect_t ray;
+ // Compute hit points for each sensor and eliminate invalid ones.
+ vect_t hit[sensors_nb_];
+ int dist_mm[sensors_nb_];
+ for (i = 0; i < sensors_nb_; i++)
+ {
+ dist_mm[i] = sensors_[i].sensor->get ();
+ if (dist_mm[i] != -1)
+ {
+ hit[i] = sensors_[i].pos;
+ vect_rotate_uf016 (&hit[i], robot_pos.a);
+ vect_translate (&hit[i], &robot_pos.v);
+ vect_from_polar_uf016 (&ray, dist_mm[i],
+ robot_pos.a + sensors_[i].a);
+ vect_translate (&hit[i], &ray);
+ if (valid (i, hit[i]))
+ {
+ vect_from_polar_uf016 (&ray, obstacle_edge_radius_mm_,
+ robot_pos.a + sensors_[i].a);
+ vect_translate (&hit[i], &ray);
+ }
+ else
+ dist_mm[i] = -1;
+ }
+ }
+ // Ignore sensor results too far from other sensors of the same group.
+ for (i = 0; i < sensors_nb_ - 1; i++)
+ {
+ if (dist_mm[i] != -1)
+ {
+ for (j = i + 1; j < sensors_nb_ && !sensors_[j].new_group; j++)
+ {
+ if (dist_mm[j] != -1)
+ {
+ if (dist_mm[i] + far_mm < dist_mm[j])
+ dist_mm[j] = -1;
+ else if (dist_mm[j] + far_mm < dist_mm[i])
+ dist_mm[i] = -1;
+ }
+ }
+ }
+ }
+ // Compute hit point from all sensors in the same group.
+ vect_t hit_center = { 0, 0 };
+ int hit_nb = 0;
+ for (i = 0; i < sensors_nb_; i++)
+ {
+ if (dist_mm[i] != -1)
+ {
+ vect_add (&hit_center, &hit[i]);
+ hit_nb++;
+ }
+ // If last of group or last sensor, may add obstacle.
+ if ((i == sensors_nb_ - 1 || sensors_[i + 1].new_group) && hit_nb)
+ {
+ if (hit_nb > 1)
+ {
+ hit_center.x /= hit_nb;
+ hit_center.y /= hit_nb;
+ }
+ obstacles.add (hit_center);
+ hit_center.x = 0;
+ hit_center.y = 0;
+ hit_nb = 0;
+ }
+ }
+}
+