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+#ifndef radar_hh
+#define radar_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 "ucoolib/dev/usdist/usdist.hh"
+#include "obstacles.hh"
+
+/// Describe a radar sensor.
+struct RadarSensor
+{
+ /// US distance sensor.
+ ucoo::UsDist *sensor;
+ /// Position relative to the robot center.
+ vect_t pos;
+ /// Angle relative to the robot X axis.
+ uint16_t a;
+ /// Part of an new sensor group?
+ bool new_group;
+};
+
+/// Handle any distance sensors information to extract useful data. This
+/// includes:
+/// - combining several sensors information for a more precise obstacle
+/// position,
+/// - ignoring obstacles not in the playground.
+class Radar
+{
+ public:
+ /// Margin to be considered inside the playground. An obstacle can not be
+ /// exactly at the playground edge.
+ static const int margin_mm = 150;
+ protected:
+ /// Constructor.
+ Radar (int obstacle_edge_radius_mm, RadarSensor *sensors, int sensors_nb)
+ : obstacle_edge_radius_mm_ (obstacle_edge_radius_mm),
+ sensors_ (sensors), sensors_nb_ (sensors_nb) { }
+ /// Define exclusion area, return true if point is valid.
+ virtual bool valid (int sensor_index, vect_t &p) = 0;
+ public:
+ /// Update radar view. Record found obstacles.
+ void update (const Position &robot_pos, Obstacles &obstacles);
+ private:
+ /// Estimated obstacle edge radius. As the sensors detect obstacle edge,
+ /// this is added to position obstacle center.
+ const int obstacle_edge_radius_mm_;
+ /// Sensors description.
+ RadarSensor *sensors_;
+ /// Number of sensors.
+ int sensors_nb_;
+};
+
+#endif // radar_hh