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