Create LIDAR lib for hadling both rangefinders - SICK and Hokuyo

[eurobot/public.git] / src / lidars / sick-tim3xx / sick.h

diff --git a/src/sick-tim3xx/sick.h b/src/lidars/sick-tim3xx/sick.h
similarity index 71%
rename from src/sick-tim3xx/sick.h
rename to src/lidars/sick-tim3xx/sick.h
index ede488b3156a9ac904e8a5ff375d92b4ef6ad7e7..55338c4640e9c5108b5331f041f82f4d6d31976f 100644 (file)
--- a/src/sick-tim3xx/sick.h
+++ b/src/lidars/sick-tim3xx/sick.h
@@ -1,13 +1,18 @@
 #ifndef SICK_H
 #define SICK_H
 
-#include <math.h>
 #include <robottype.h>
+#include <robodim.h>
+
+#define SICK_ARRAY_SIZE (271)
 
-#define SICK_ARRAY_SIZE (sizeof(((struct sick_scan_type*)0)->data) / sizeof(((struct sick_scan_type*)0)->data[0]))
 
-#define SICK_START_ANGLE (270.00/2)
 #define SICK_SPLIT_DIVISION     360
+#define SICK_START_ANGLE (270.00/2)
+
+// This value are not used for sick-tim3xx
+#define SICK_FINAL_MEASUREMENT 0
+#define SICK_INITIAL_MEASUREMENT       0
 
 #define SICK_INDEX_TO_DEG(x) ((SICK_START_ANGLE-(x)*360.0/SICK_SPLIT_DIVISION) * SICK_ORIENTATION)
 #define SICK_INDEX_TO_RAD(x) (SICK_INDEX_TO_DEG(x)/180.0*M_PI)