C++ ArRobot::getNumSonar方法代码示例

int main(int argc, char **argv){
	Aria::init();
	ArRobot robot;
	ArArgumentParser parser(&argc, argv);
	ArSimpleConnector connector(& parser);

	parser.loadDefaultArguments();
	Aria::logOptions();
	if (!connector.parseArgs()){
		cout << "Unknown settings\n";
		Aria::exit(0);
		exit(1);
	}

	if (!connector.connectRobot(&robot)){
		cout << "Unable to connect\n";
		Aria::exit(0);
		exit(1);
	}

	robot.runAsync(true);
	robot.lock();
	robot.comInt(ArCommands::ENABLE, 1);
	robot.unlock();



	ArSonarDevice sonar;
	robot.addRangeDevice(&sonar);

	G_id = 0;
	G_SONAR_FD = fopen("../sensors/sonars","w");
	G_pose_fd  = fopen("../sensors/pose","w");
	int numSonar = robot.getNumSonar();
	while(1){
		readPosition(robot);
		readSonars(robot, 8);
		setMotors(robot);
		usleep(20000);
	}

	fclose(G_SONAR_FD);
	fclose(G_pose_fd);
	Aria::exit(0);
}

ArActionDesired* ActionReadSonar::fire(ArActionDesired currentDesired)
{


	ArRobot *robot = this->getRobot();
	
	int total = robot->getNumSonar(); // get the total number of sonar on the robot
	ArSensorReading* value; // This class abstracts range and angle read from sonar

	//cout << " 0 : " << robot->getSonarReading(0)->getSensorTh() << " 1 : " << robot->getSonarReading(1)->getSensorTh() 
	//	 << " 2 : " << robot->getSonarReading(2)->getSensorTh() << " 3 : " << robot->getSonarReading(3)->getSensorTh()
	//	 << " 4 : " << robot->getSonarReading(4)->getSensorTh() << " 5 : " << robot->getSonarReading(5)->getSensorTh()
	//	 << " 6 : " << robot->getSonarReading(6)->getSensorTh() << " 7 : " << robot->getSonarReading(7)->getSensorTh()
		 
	//	 << "r :" << robot->getTh() << endl;


	double limit = 800;
	double distance;

	// reset the actionDesired (must be done), to clear
	// its previous values.
	myDesired.reset();

	// if the sonar is null we can't do anything, so deactivate
	if (mySonar == NULL)
	{
		deactivate();
		return NULL;
	}

	// gets value of object between -20 degrees and 20 degrees of foward
	double angle = 0;
	distance = mySonar->currentReadingPolar(-20, 20, &angle);
	//cout << "distance from nearest object =" << distance << endl;
	

	if (distance <= limit) {
		int heading = 15;

		//cout << "angle :" << angle << endl;
		if (angle > 10) {
			heading = -heading;
		}
		else if (angle < -10) {
			heading = heading;
		}
		
		//cout << "x" << robot->getX() << " ," << robot->getY() << endl;
		cout << "distance from nearest object =" << distance << endl;

		
		robot->lock();
		robot->setVel(0);
		robot->unlock();

		robot->lock();
		robot->setDeltaHeading(heading);
		robot->unlock();

		ArUtil::sleep(50);
	}

	return &myDesired;
}

//.........这里部分代码省略.........

  std::stringstream bumper_info(std::stringstream::out);
  // Bit 0 is for stall, next bits are for bumpers (leftmost is LSB)
  for (unsigned int i=0; i<robot->getNumFrontBumpers(); i++)
  {
    bumpers.front_bumpers[i] = (front_bumpers & (1 << (i+1))) == 0 ? 0 : 1;
    bumper_info << " " << (front_bumpers & (1 << (i+1)));
  }
  ROS_DEBUG("RosAria: Front bumpers:%s", bumper_info.str().c_str());

  bumper_info.str("");
  // Rear bumpers have reverse order (rightmost is LSB)
  unsigned int numRearBumpers = robot->getNumRearBumpers();
  for (unsigned int i=0; i<numRearBumpers; i++)
  {
    bumpers.rear_bumpers[i] = (rear_bumpers & (1 << (numRearBumpers-i))) == 0 ? 0 : 1;
    bumper_info << " " << (rear_bumpers & (1 << (numRearBumpers-i)));
  }
  ROS_DEBUG("RosAria: Rear bumpers:%s", bumper_info.str().c_str());
  
  bumpers_pub.publish(bumpers);

  //Publish battery information
  // TODO: Decide if BatteryVoltageNow (normalized to (0,12)V)  is a better option
  std_msgs::Float64 batteryVoltage;
  batteryVoltage.data = robot->getRealBatteryVoltageNow();
  voltage_pub.publish(batteryVoltage);

  if(robot->haveStateOfCharge())
  {
    std_msgs::Float32 soc;
    soc.data = robot->getStateOfCharge()/100.0;
    state_of_charge_pub.publish(soc);
  }

  // publish recharge state if changed
  char s = robot->getChargeState();
  if(s != recharge_state.data)
  {
    ROS_INFO("RosAria: publishing new recharge state %d.", s);
    recharge_state.data = s;
    recharge_state_pub.publish(recharge_state);
  }

  // publish motors state if changed
  bool e = robot->areMotorsEnabled();
  if(e != motors_state.data || !published_motors_state)
  {
	ROS_INFO("RosAria: publishing new motors state %d.", e);
	motors_state.data = e;
	motors_state_pub.publish(motors_state);
	published_motors_state = true;
  }

  // Publish sonar information, if enabled.
  if (use_sonar) {
    sensor_msgs::PointCloud cloud;	//sonar readings.
    cloud.header.stamp = position.header.stamp;	//copy time.
    // sonar sensors relative to base_link
    cloud.header.frame_id = frame_id_sonar;
    

    // Log debugging info
    std::stringstream sonar_debug_info;
    sonar_debug_info << "Sonar readings: ";
    for (int i = 0; i < robot->getNumSonar(); i++) {
      ArSensorReading* reading = NULL;
      reading = robot->getSonarReading(i);
      if(!reading) {
        ROS_WARN("RosAria: Did not receive a sonar reading.");
        continue;
      }
      
      // getRange() will return an integer between 0 and 5000 (5m)
      sonar_debug_info << reading->getRange() << " ";

      // local (x,y). Appears to be from the centre of the robot, since values may
      // exceed 5000. This is good, since it means we only need 1 transform.
      // x & y seem to be swapped though, i.e. if the robot is driving north
      // x is north/south and y is east/west.
      //
      //ArPose sensor = reading->getSensorPosition();  //position of sensor.
      // sonar_debug_info << "(" << reading->getLocalX() 
      //                  << ", " << reading->getLocalY()
      //                  << ") from (" << sensor.getX() << ", " 
      //                  << sensor.getY() << ") ;; " ;
      
      //add sonar readings (robot-local coordinate frame) to cloud
      geometry_msgs::Point32 p;
      p.x = reading->getLocalX() / 1000.0;
      p.y = reading->getLocalY() / 1000.0;
      p.z = 0.0;
      cloud.points.push_back(p);
    }
    ROS_DEBUG_STREAM(sonar_debug_info.str());
    
    sonar_pub.publish(cloud);
  }

}