Robot Simulator of the Robotics Group for Self-Organization of Control: 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 1.2  2009/08/10 07:49:11  guettler
    00030  *   removed typedef to avoid compiler warnings
    00031  *
    00032  *   Revision 1.1  2007/11/07 13:22:59  martius
    00033  *   new sound sensor
    00034  *
    00035  *
    00036  *                                                                 *
    00037  ***************************************************************************/
    00038 #ifndef         SOUNDSENSOR_H_
    00039 # define        SOUNDSENSOR_H_
    00040
    00041 #include "sensor.h"
    00042
    00043 namespace lpzrobots {
    00044
    00045   /** Sound sensor
    00046       with possible direction and frequency detection and also
    00047       distance dependence
    00048   */
    00049   class SoundSensor: public Sensor {
    00050   public:
    00051     /* typedef */ enum Measure { Segments, Angle, AngleVel };
    00052
    00053     /** @param dim Up-axis of the robot (sometimes it is not Z)
    00054     */
    00055     SoundSensor(Dimensions dim = Z, Measure measure = Angle,
    00056                 int segments=1, int levels=1, float maxDistance=1000);
    00057     virtual ~SoundSensor();
    00058
    00059     virtual void init(Primitive* own){ this->own = own;}
    00060
    00061     virtual bool sense(const GlobalData& globaldata);
    00062
    00063     virtual int getSensorNumber() const;
    00064
    00065     virtual std::list<sensor> get() const;
    00066
    00067     virtual int get(sensor* sensors, int length) const;
    00068
    00069   private:
    00070     short dim; ///< the axis in which the sensor is selective around
    00071     Measure measure; ///< how to measure
    00072     int segments;
    00073     int levels;
    00074     float maxDistance;
    00075
    00076     double* val;
    00077     double* oldangle;
    00078
    00079     Primitive* own;
    00080
    00081   };
    00082
    00083
    00084
    00085
    00086 }
    00087
    00088 #endif      /* !SOUNDSENSOR_H_ */