ArSonarDevice.h

/*
MobileRobots Advanced Robotics Interface for Applications (ARIA)
Copyright (C) 2004, 2005 ActivMedia Robotics LLC
Copyright (C) 2006, 2007 MobileRobots Inc.

     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

If you wish to redistribute ARIA under different terms, contact 
MobileRobots for information about a commercial version of ARIA at 
robots@mobilerobots.com or 
MobileRobots Inc, 19 Columbia Drive, Amherst, NH 03031; 800-639-9481
*/

#ifndef ARSONARDEVICE_H
#define ARSONARDEVICE_H

#include "ariaTypedefs.h"
#include "ArRangeDevice.h"
#include "ArFunctor.h"

#include "ArRobot.h"


class ArSonarDevice : public ArRangeDevice
{
public:
  AREXPORT ArSonarDevice(size_t currentBufferSize = 24, 
             size_t cumulativeBufferSize = 64, 
             const char * name = "sonar");
  AREXPORT virtual ~ArSonarDevice();
  AREXPORT void processReadings(void);

  AREXPORT virtual void setRobot(ArRobot *robot);

  AREXPORT virtual void addReading(double x, double y);

  AREXPORT void setCumulativeMaxRange(double range) 
    { setMaxDistToKeepCumulative(range); }
protected:
  ArFunctorC<ArSonarDevice> myProcessCB;
  double myFilterNearDist;  // we throw out cumulative readings this close to current one
  double myFilterFarDist;   // throw out cumulative readings beyond this far from robot
};


#endif // ARSONARDEVICE_H

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