ArSonarDevice Class Reference

#include <ArSonarDevice.h>

Inheritance diagram for ArSonarDevice:

List of all members.

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Detailed Description

Keep track of recent sonar readings from a robot as an ArRangeDevice.

This class is for keeping a sonar history, which you may use for obstacle avoidance, display, etc. Simply use ArRobot::addRangeDevice() (or ArSonarDevice::setRobot()) to attach an ArSonarDevice object to an ArRobot robot object; ArSonarDevice will add a Sensor Interpretation task to the ArRobot which will read new sonar readings each robot cycle and add them to its sonar history.

(Note that sonar range readings are from the surface of the sonar transducer disc, not from the center of the robot.)

Examples:

actionExample.cpp, actionGroupExample.cpp, actsColorFollowingExample.cpp, demo.cpp, gotoActionExample.cpp, gpsRobotTaskExample.cpp, gripperExample.cpp, gyroExample.cpp, robotSyncTaskExample.cpp, teleopActionsExample.cpp, triangleDriveToActionExample.cpp, and wander.cpp.

Public Member Functions
virtual void	addReading (double x, double y)
	ArSonarDevice (size_t currentBufferSize=24, size_t cumulativeBufferSize=64, const char *name="sonar")
	Constructor.
void	processReadings (void)
void	setCumulativeMaxRange (double range)
virtual void	setRobot (ArRobot *robot)
virtual	~ArSonarDevice ()
	Destructor.
Protected Attributes
double	myFilterFarDist
double	myFilterNearDist
ArFunctorC< ArSonarDevice >	myProcessCB

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Member Function Documentation

void ArSonarDevice::addReading (  double  x, double  y )  [virtual]

Adds sonar readings to the current and cumulative buffers Overrides the ArRangeDevice default action. (This method is primarily for internal use.) Reimplemented from ArRangeDevice.

void ArSonarDevice::processReadings (  void   )

Grabs the new readings from the robot and adds them to the buffers (Primarily for internal use.)

void ArSonarDevice::setCumulativeMaxRange (  double  range  )  [inline]

Deprecated: See also: ArRangeDevice::setMaxDistToKeepCumulative()

void ArSonarDevice::setRobot (  ArRobot *  robot  )  [virtual]

Sets the robot pointer, also attaches its process function to the robot as a Sensor Interpretation task. Reimplemented from ArRangeDevice.

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The documentation for this class was generated from the following files:

• ArSonarDevice.h
• ArSonarDevice.cpp

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