CSWSonar Class Reference

Inheritance diagram for CSWSonar:

[legend]List of all members.

Public Types
enum	ScanDirectionMode {   FULL = 1, FRONT = 2, BACK = 3,   LOCAL_DIRECTION = 4, GLOBAL_POSITION = 5 }
enum	ScanVelocityMode { FAST = 1, SLOW = 2 }
enum	ScanRangeMode { NEAR_RANGE = 1, FAR_RANGE = 2 }
Public Member Functions
void	setEnableAutomaticRotation (bool bValue)
bool	isAutomaticRotationEnabled () const
void	setScanDirectionMode (ScanDirectionMode directionMode)
void	setScanVelocityMode (ScanVelocityMode velocityMode)
void	setScanRangeMode (ScanRangeMode rangeMode)
ScanDirectionMode	getScanDirectionMode () const
ScanVelocityMode	getScanVelocityMode () const
ScanRangeMode	getScanRangeMode () const
void	setScanDirection (const Vector3D &vecDirection)
const Vector3D &	getScanDirection () const
void	pointToGlobalPosition (const Vector3D &vecPosition)
const Vector3D &	getDirection () const

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Detailed Description

This is the base class for sonar like functionality. To cover regions the sonar can be rotated periodically. This can be controlled by the three different mode types (direction, velocity and range). The maximal angular velocity for adjusting is 180 degree/second.

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Member Enumeration Documentation

enum CSWSonar::ScanDirectionMode

Available scanning directions and areas.

Enumerator:

FULL	Scans horizontal about 360 degree. (Default).
FRONT	Scans horizontal about 90 degree in forward direction.
BACK	Scans horizontal about 90 degree in backward direction.
LOCAL_DIRECTION	Scans horizontal about 30 degree in currently set custom direction.
GLOBAL_POSITION	Scans horizontal about 30 degree in direction to the currently set global position.

enum CSWSonar::ScanVelocityMode

Available scanning velocities.

Enumerator:

FAST	Scans horizontal with 90 degree per second. (Default).
SLOW	Scans horizontal with 20 degree per second.

enum CSWSonar::ScanRangeMode

Available scanning ranges.

Enumerator:

NEAR_RANGE	Scans like described above. (Default).
FAR_RANGE	Reduces the scaning area (horizontal) and the velocity (horizontal) by factor 4.

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Member Function Documentation

void CSWSonar::setEnableAutomaticRotation

(

bool

bValue

)

Enable the automatic rotation. If this is set to false the sonar can be set manually to desired direction with setDirection().

Parameters:

bValue

If true the automatic rotation is activated otherwise not.

bool CSWSonar::isAutomaticRotationEnabled

(

)

const

Returns whether the automatic rotation is enabled or not.

Returns:

True if the automatic rotation is activated otherwise false.

void CSWSonar::setScanDirectionMode

(

ScanDirectionMode

directionMode

)

Sets the scanning direction.

Parameters:

directionMode

The new scanning direction that should be used.

Warning:

Mode changes causes direction changes.

void CSWSonar::setScanVelocityMode

(

ScanVelocityMode

velocityMode

)

Sets the scanning velocity.

Parameters:

velocityMode

The new scanning velocity that should be used.

Warning:

Mode changes causes direction changes.

void CSWSonar::setScanRangeMode

(

ScanRangeMode

rangeMode

)

Sets the scanning range.

Parameters:

rangeMode

The new scanning range that should be used.

Warning:

Mode changes causes direction changes.

CSWSonar::ScanDirectionMode CSWSonar::getScanDirectionMode

(

)

const

Gets the current scanning direction mode.

Returns:

Returns the current scanning direction mode.

CSWSonar::ScanVelocityMode CSWSonar::getScanVelocityMode

(

)

const

Gets the current scanning velocity mode.

Returns:

Returns the current scanning velocity mode.

CSWSonar::ScanRangeMode CSWSonar::getScanRangeMode

(

)

const

Gets the current scanning range mode.

Returns:

Returns the current scanning range mode.

void CSWSonar::setScanDirection

(

const Vector3D &

vecDirection

)

Sets the new custom main scanning direction for scan direction mode LOCAL_DIRECTION.

Parameters:

vecDirection

The new custom main scanning direction in local coordinate system that should be used.

Warning:

This makes only sense in mode LOCAL_DIRECTION.

const Vector3D & CSWSonar::getScanDirection

(

)

const

Gets the current custom main scanning direction for scan direction mode LOCAL_DIRECTION.

Returns:

Returns the current custom main scanning direction in local coordinate system.

Warning:

This makes only sense in mode LOCAL_DIRECTION.

void CSWSonar::pointToGlobalPosition

(

const Vector3D &

vecPosition

)

Lets the sonar always points to the given position in world coordinate system for scan direction mode GLOBAL_POSITION.

Parameters:

vecPosition

The global position to which the sonar should be directed.

Warning:

This makes only sense in mode GLOBAL_POSITION.

const Vector3D & CSWSonar::getDirection

(

)

const

Gets the current scanning direction in world coordinate system.

Returns:

Returns the current scanning direction in world coordinate system.

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