src/hokuyo/hokuyo.h

   1 #ifndef HOKUYO_H
   2 #define HOKUYO_H
   3
   4 #include <math.h>
   5 #include <robottype.h>
   6
   7 #define HOKUYO_ARRAY_SIZE (sizeof(((struct hokuyo_scan_type*)0)->data) / sizeof(((struct hokuyo_scan_type*)0)->data[0]))
   8
   9 #define HOKUYO_SPLIT_DIVISION 1024
  10 #define HOKUYO_INITIAL_MEASUREMENT 44
  11 #define HOKUYO_FINAL_MEASUREMENT 725
  12 #define HOKUYO_START_ANGLE (239.77/2)
  13
  14 #define HOKUYO_INDEX_TO_DEG(x) ((HOKUYO_START_ANGLE-(x)*360.0/HOKUYO_SPLIT_DIVISION) * HOKUYO_ORIENTATION)
  15 #define HOKUYO_INDEX_TO_RAD(x) (HOKUYO_INDEX_TO_DEG(x)/180.0*M_PI)
  16
  17 #define HOKUYO_DEG_TO_INDEX(d) ((HOKUYO_START_ANGLE-(d))/(360.0/HOKUYO_SPLIT_DIVISION))
  18
  19 #endif //HOKUYO_H