/usr/include/Aria/ArIrrfDevice.h is in libaria-dev 2.8.0+repack-1ubuntu2.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 | /*
Adept MobileRobots Robotics Interface for Applications (ARIA)
Copyright (C) 2004, 2005 ActivMedia Robotics LLC
Copyright (C) 2006, 2007, 2008, 2009, 2010 MobileRobots Inc.
Copyright (C) 2011, 2012, 2013 Adept Technology
This program is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 2 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
If you wish to redistribute ARIA under different terms, contact
Adept MobileRobots for information about a commercial version of ARIA at
robots@mobilerobots.com or
Adept MobileRobots, 10 Columbia Drive, Amherst, NH 03031; +1-603-881-7960
*/
#ifndef ARIRRFDEVICE_H
#define ARIRRFDEVICE_H
#include "ariaTypedefs.h"
#include "ArRangeDevice.h"
#include "ArFunctor.h"
#include "ArRobot.h"
/// A class for connecting to a PB-9 and managing the resulting data
/**
This class is for use with a PB9 IR rangefinder. It has the packethandler
necessary to process the packets, and will put the data into ArRangeBuffers
for use with obstacle avoidance, etc.
The PB9 is still under development, and only works on an H8 controller
running AROS.
*/
class ArIrrfDevice : public ArRangeDevice
{
public:
/// Constructor
AREXPORT ArIrrfDevice(size_t currentBufferSize = 91,
size_t cumulativeBufferSize = 273,
const char * name = "irrf");
/// Destructor
AREXPORT virtual ~ArIrrfDevice();
/// The packet handler for use when connecting to an H8 micro-controller
AREXPORT bool packetHandler(ArRobotPacket *packet);
/// Maximum range for a reading to be added to the cumulative buffer (mm)
AREXPORT void setCumulativeMaxRange(double r) { myCumulativeMaxRange = r; }
AREXPORT virtual void setRobot(ArRobot *);
protected:
ArRetFunctor1C<bool, ArIrrfDevice, ArRobotPacket *> myPacketHandler;
ArTime myLastReading;
AREXPORT void processReadings(void);
double myCumulativeMaxRange;
double myFilterNearDist;
double myFilterFarDist;
std::map<int, ArSensorReading *> myIrrfReadings;
};
#endif // ARIRRFDEVICE_H
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