CodeSubWars::CSWActiveSonar Class Reference

#include <CSWActiveSonar.h>

Inheritance diagram for CodeSubWars::CSWActiveSonar:

Public Member Functions
const double &	getDistance () const
const double &	getMaximalDistance () const
bool	hasTargetDetected () const
bool	isTargetDynamic () const
bool	isTargetBorder () const
bool	isTargetSubmarine () const
bool	isTargetWeapon () const
const Vector3D &	getTargetPosition () const
Public Member Functions inherited from CodeSubWars::CSWSonar
void	setEnableAutomaticRotation (bool bValue)
bool	isAutomaticRotationEnabled () const
void	setScanDirectionMode (int directionMode)
void	setScanVelocityMode (int velocityMode)
void	setScanRangeMode (int 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
Public Member Functions inherited from CodeSubWars::CSWEquipment
bool	isMoving () const
Public Member Functions inherited from CodeSubWars::CSWObject
const std::string &	getName () const

Additional Inherited Members
Public Types inherited from CodeSubWars::CSWSonar
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 }

Detailed Description

This class specializes a sonar to an active sonar. The time difference between sent and received sonic waves gives the distance to detected solid objects within a small region. The three modes for direction, velocity and range have now additional meanings:

• ScanDirectionModes:
  
  • FULL Scans additionally vertical about 30 degree. (Default)
    
  • FRONT Scans additionally vertical about 60 degree in forward direction.
    
  • BACK Scans additionally vertical about 60 degree in backward direction.
    
  • LOCAL_DIRECTION Scans additionally vertical about 30 degree in currently set custom local direction.
    
  • GLOBAL_POSITION Scans additionally vertical about 30 degree in direction to the currently set global position.
    
• ScanVelocityMode:
  
  • FAST Scans additionally vertical with 1125 degree per second. (Default)
    
  • SLOW Scans additionally vertical with 375 degree per second.
    
• ScanRangeModes:
  
  • NEAR_RANGE Scans like described above. (Default)
    
  • FAR_RANGE Reduces the scaning area (vertical) and the velocity (vertical) by factor 4.
    

Detected objects are reported to the map.

Warning

Objects closer than 60m are not detected.

Member Function Documentation

getDistance()

const double & CodeSubWars::CSWActiveSonar::getDistance

(

)

const

Returns the distance from the sensor to the detected object.

Returns

The distance from the sensor to the currently detected object. If no object has been detected getMaximalDistance() is returned.

getMaximalDistance()

const double & CodeSubWars::CSWActiveSonar::getMaximalDistance

(

)

const

Returns the maximal distance within objects can be detected.

Returns

The maximal distance within objects can be detected.

getTargetPosition()

const Vector3D & CodeSubWars::CSWActiveSonar::getTargetPosition

(

)

const

Returns the position of the detection in world coordinates.

Returns

The position of the detection in world coordinates. If no object has been detected Vector3(0, 0, 0) is returned.

hasTargetDetected()

bool CodeSubWars::CSWActiveSonar::hasTargetDetected

(

)

const

Returns true if an object has been detected otherwise false

Returns

True if an object has been detected otherwise false.

isTargetBorder()

bool CodeSubWars::CSWActiveSonar::isTargetBorder

(

)

const

Returns true if a world border has been detected.

Returns

True if a world border has been detected.

isTargetDynamic()

bool CodeSubWars::CSWActiveSonar::isTargetDynamic

(

)

const

Returns true if a dynamic object has been detected.

Returns

True if a dynamic object has been detected.

isTargetSubmarine()

bool CodeSubWars::CSWActiveSonar::isTargetSubmarine

(

)

const

Returns true if a submarine has been detected.

Returns

True if a submarine has been detected.

isTargetWeapon()

bool CodeSubWars::CSWActiveSonar::isTargetWeapon

(

)

const

Returns true if a weapon has been detected.

Returns

True if a weapon has been detected.