Robotsystem of the Robot Group Leipzig: soundsensor.h Source File

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# soundsensor.h

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    00001 /***************************************************************************
    00002  *   Copyright (C) 2007 by Robot Group Leipzig                             *
    00003  *    georg@nld.ds.mpg.de                                                  *
    00004  *    fhesse@informatik.uni-leipzig.de                                     *
    00005  *    der@informatik.uni-leipzig.de                                        *
    00006  *                                                                         *
    00007  ** Started on  Mon Oct 15 16:48:03 2007 Georg Martius *
    00008  ** Last update Mon Oct 15 16:48:03 2007 Georg Martius *
    00009  *                                                                         *
    00010  *   This program is free software; you can redistribute it and/or modify  *
    00011  *   it under the terms of the GNU General Public License as published by  *
    00012  *   the Free Software Foundation; either version 2 of the License, or     *
    00013  *   (at your option) any later version.                                   *
    00014  *                                                                         *
    00015  *   This program is distributed in the hope that it will be useful,       *
    00016  *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
    00017  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
    00018  *   GNU General Public License for more details.                          *
    00019  *                                                                         *
    00020  *   You should have received a copy of the GNU General Public License     *
    00021  *   along with this program; if not, write to the                         *
    00022  *   Free Software Foundation, Inc.,                                       *
    00023  *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
    00024  ***************************************************************************
    00025  *                                                                         *
    00026  *  DESCRIPTION                                                            *
    00027  *                                                                         *
    00028  *   $Log: soundsensor.h,v $
    00029  *   Revision 1.1  2007/11/07 13:22:59  martius
    00030  *   new sound sensor
    00031  *
    00032  *
    00033  *                                                                 *
    00034  ***************************************************************************/
    00035 #ifndef         SOUNDSENSOR_H_
    00036 # define        SOUNDSENSOR_H_
    00037
    00038 #include "sensor.h"
    00039
    00040 namespace lpzrobots {
    00041
    00042   /** Sound sensor
    00043       with possible direction and frequency detection and also
    00044       distance dependence
    00045   */
    00046   class SoundSensor: public Sensor {
    00047   public:
    00048     typedef enum Measure { Segments, Angle, AngleVel };
    00049
    00050     /** @param dim Up-axis of the robot (sometimes it is not Z)
    00051     */
    00052     SoundSensor(Dimensions dim = Z, Measure measure = Angle,
    00053                 int segments=1, int levels=1, float maxDistance=1000);
    00054     virtual ~SoundSensor();
    00055
    00056     virtual void init(Primitive* own){ this->own = own;}
    00057
    00058     virtual bool sense(const GlobalData& globaldata);
    00059
    00060     virtual int getSensorNumber() const;
    00061
    00062     virtual std::list<sensor> get() const;
    00063
    00064     virtual int get(sensor* sensors, int length) const;
    00065
    00066   private:
    00067     short dim; ///< the axis in which the sensor is selective around
    00068     Measure measure; ///< how to measure
    00069     int segments;
    00070     int levels;
    00071     float maxDistance;
    00072
    00073     double* val;
    00074     double* oldangle;
    00075
    00076     Primitive* own;
    00077
    00078   };
    00079
    00080
    00081
    00082
    00083 }
    00084
    00085 #endif      /* !SOUNDSENSOR_H_ */