MOOS 0.2375
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00001 00002 // 00003 // MOOS - Mission Oriented Operating Suite 00004 // 00005 // A suit of Applications and Libraries for Mobile Robotics Research 00006 // Copyright (C) 2001-2005 Massachusetts Institute of Technology and 00007 // Oxford University. 00008 // 00009 // This software was written by Paul Newman and others 00010 // at MIT 2001-2002 and Oxford University 2003-2005. 00011 // email: pnewman@robots.ox.ac.uk. 00012 // 00013 // This file is part of a MOOS Basic (Common) Application. 00014 // 00015 // This program is free software; you can redistribute it and/or 00016 // modify it under the terms of the GNU General Public License as 00017 // published by the Free Software Foundation; either version 2 of the 00018 // License, or (at your option) any later version. 00019 // 00020 // This program is distributed in the hope that it will be useful, 00021 // but WITHOUT ANY WARRANTY; without even the implied warranty of 00022 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU 00023 // General Public License for more details. 00024 // 00025 // You should have received a copy of the GNU General Public License 00026 // along with this program; if not, write to the Free Software 00027 // Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 00028 // 02111-1307, USA. 00029 // 00031 // MOOSNavSensor.cpp: implementation of the CMOOSNavSensor class. 00032 // 00034 #include <math.h> 00035 #include "MOOSNavSensor.h" 00036 00038 // Construction/Destruction 00040 00041 CMOOSNavSensor::CMOOSNavSensor() 00042 { 00043 m_Offset.m_dfX = 0; 00044 m_Offset.m_dfY = 0; 00045 m_Offset.m_dfZ = 0; 00046 m_dfNoise = -1; 00047 00048 m_pParent = NULL; 00049 } 00050 00051 CMOOSNavSensor::~CMOOSNavSensor() 00052 { 00053 00054 } 00055 00060 bool CMOOSNavSensor::GetAlignedOffsets(double dfAng, double &dfX, double &dfY, double &dfZ) 00061 { 00062 00063 dfX = m_Offset.m_dfX* cos(dfAng) - m_Offset.m_dfY*sin(dfAng); 00064 dfY = m_Offset.m_dfX* sin(dfAng) + m_Offset.m_dfY*cos(dfAng); 00065 dfZ = m_Offset.m_dfZ; 00066 00067 return true; 00068 } 00069 00070 bool CMOOSNavSensor::SetNoise(double dfNoise) 00071 { 00072 m_dfNoise = dfNoise; 00073 return true; 00074 } 00075 00076 double CMOOSNavSensor::GetNoise() 00077 { 00078 return m_dfNoise; 00079 }