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gb_base.h

Go to the documentation of this file.

/*
Object Oriented Mobile Robot Model (OOMRM) C++  Library Copyright (C) 2002-2006  Derek Jones

This library is free software; you can redistribute it  and/or
modify it under the terms of the GNU Lesser General Public
License  as published by the Free Software Foundation; either
version 2.1 of the  License, or (at your option) any later version.

This library 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
Lesser General Public License for more  details.

You should have received a copy of the GNU Lesser General  Public
License along with this library; if not, write to the Free  Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA   02111-1307  USA


 * $Id: gb_base.h,v 1.2 2006/06/07 00:58:40 derek Exp $
*/
#ifndef GB_BASE_H
#define GB_BASE_H
#include <utility/fixedpoint.h>
#include <sensor_base.h>
#include <hardware/ocameragb.h>
/*  To locate the sensor, fix the center of the robot somehow.  calculate how many millimeters sensor
    is from center.  Most robots have a "forward" (0 degrees), and lastly how many degrees are neede to 
    rotate around the robot to locate it.
\todo This should eventually be subclassed from a Visual_Sensor, and not directly from the sensor_base.
*/

class GB_base : public sensor_base, public oCameraGB
{
public:
//  friend void mapper_event(void);
//  friend short emulated_value(void);
  GB_base(short, DEGREE, DEGREE, IOLINE,PORT,IOLINE,IOLINE,IOLINE,IOLINE,IOLINE,IOLINE); // channel on A2D for IR
};

#endif

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