CodeSubWars::CSWSonar Class Reference

#include <CSWSonar.h>

Inheritance diagram for CodeSubWars::CSWSonar:

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 (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

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.

Member Enumeration Documentation

ScanDirectionMode

enum CodeSubWars::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.

ScanRangeMode

enum CodeSubWars::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.

ScanVelocityMode

enum CodeSubWars::CSWSonar::ScanVelocityMode

Available scanning velocities.

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

Member Function Documentation

getDirection()

const Vector3D & CodeSubWars::CSWSonar::getDirection

(

)

const

Gets the current scanning direction in world coordinate system.

Returns

Returns the current scanning direction in world coordinate system.

getScanDirection()

const Vector3D & CodeSubWars::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.

getScanDirectionMode()

CSWSonar::ScanDirectionMode CodeSubWars::CSWSonar::getScanDirectionMode

(

)

const

Gets the current scanning direction mode.

Returns

Returns the current scanning direction mode.

getScanRangeMode()

CSWSonar::ScanRangeMode CodeSubWars::CSWSonar::getScanRangeMode

(

)

const

Gets the current scanning range mode.

Returns

Returns the current scanning range mode.

getScanVelocityMode()

CSWSonar::ScanVelocityMode CodeSubWars::CSWSonar::getScanVelocityMode

(

)

const

Gets the current scanning velocity mode.

Returns

Returns the current scanning velocity mode.

isAutomaticRotationEnabled()

bool CodeSubWars::CSWSonar::isAutomaticRotationEnabled

(

)

const

Returns whether the automatic rotation is enabled or not.

Returns

True if the automatic rotation is activated otherwise false.

pointToGlobalPosition()

void CodeSubWars::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.

setEnableAutomaticRotation()

void CodeSubWars::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.

setScanDirection()

void CodeSubWars::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.

setScanDirectionMode()

void CodeSubWars::CSWSonar::setScanDirectionMode

(

int

directionMode

)

Sets the scanning direction.

Parameters

directionMode

The new scanning direction that should be used.

Warning

Mode changes causes direction changes.

setScanRangeMode()

void CodeSubWars::CSWSonar::setScanRangeMode

(

int

rangeMode

)

Sets the scanning range.

Parameters

rangeMode

The new scanning range that should be used.

Warning

Mode changes causes direction changes.

setScanVelocityMode()

void CodeSubWars::CSWSonar::setScanVelocityMode

(

int

velocityMode

)

Sets the scanning velocity.

Parameters

velocityMode

The new scanning velocity that should be used.

Warning

Mode changes causes direction changes.