ci_footbot_distance_scanner_sensor.h

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#ifndef CCI_FOOTBOT_DISTANCE_SCANNER_SENSOR_H
#define CCI_FOOTBOT_DISTANCE_SCANNER_SENSOR_H
 
/* To avoid dependency problems when including */
namespace argos {
   class CCI_FootBotDistanceScannerSensor;
}
 
#include <argos3/core/control_interface/ci_sensor.h>
#include <argos3/core/utility/math/angles.h>
#include <vector>
 
namespace argos {
 
   class CCI_FootBotDistanceScannerSensor : public CCI_Sensor {
 
   public:
 
      struct SReading {
         CRadians Angle;
         Real Distance; // in cm from the center of the robot (about 10cm from the border)
 
         SReading() :
            Angle(0.0f),
            Distance(0.0f) {}
 
         SReading(const CRadians& c_angle,
                  Real f_distance) :
            Angle(c_angle),
            Distance(f_distance) {
         }
      };
 
      /* These structs are for internal use only */
      typedef std::vector<SReading> TReadings;
      typedef std::vector<TReadings> TLastReadings;
      typedef std::pair<CRadians,Real> TMapPair;
      typedef std::map<CRadians,Real> TReadingsMap;
 
      CCI_FootBotDistanceScannerSensor() :
         m_tReadings(4){
      }
 
      virtual ~CCI_FootBotDistanceScannerSensor() {}
 
      const TReadingsMap& GetReadingsMap();
 
      const TReadingsMap& GetShortReadingsMap();
 
      const TReadingsMap& GetLongReadingsMap();
 
#ifdef ARGOS_WITH_LUA
      virtual void CreateLuaState(lua_State* pt_lua_state);
 
      virtual void ReadingsToLuaState(lua_State* pt_lua_state);
#endif
 
   protected:
 
      TReadings m_tReadings;
 
      TLastReadings m_tLastReadings;
 
      TReadingsMap m_tReadingsMap;
 
      TReadingsMap m_tShortReadingsMap;
 
      TReadingsMap m_tLongReadingsMap;
 
   };
 
}
 
#endif