Go to the documentation of this file.00001
00002
00003 """
00004 sensors.py - various conversions from raw analog to sensor range
00005 Copyright (c) 2011 Vanadium Labs LLC. All right reserved.
00006
00007 Redistribution and use in source and binary forms, with or without
00008 modification, are permitted provided that the following conditions are met:
00009 * Redistributions of source code must retain the above copyright
00010 notice, this list of conditions and the following disclaimer.
00011 * Redistributions in binary form must reproduce the above copyright
00012 notice, this list of conditions and the following disclaimer in the
00013 documentation and/or other materials provided with the distribution.
00014 * Neither the name of Vanadium Labs LLC nor the names of its
00015 contributors may be used to endorse or promote products derived
00016 from this software without specific prior written permission.
00017
00018 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
00019 ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
00020 WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00021 DISCLAIMED. IN NO EVENT SHALL VANADIUM LABS BE LIABLE FOR ANY DIRECT, INDIRECT,
00022 INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
00023 LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
00024 OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
00025 LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE
00026 OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF
00027 ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00028 """
00029
00030 from sensor_msgs.msg import Range
00031
00032 class SharpIR:
00033 radiation_type = Range.INFRARED
00034 field_of_view = 0.001
00035 min_range = 0.0
00036 max_range = 1.0
00037
00038 def convert(self, raw):
00039 """ Convert raw analog (10-bit) to distance. """
00040 return raw
00041
00042 class gpA710YK(SharpIR):
00043 """ Ultra long-range Sharp IR sensor. """
00044 min_range = 0.75
00045 max_range = 5.50
00046
00047 def convert(self, raw):
00048 """ Convert raw analog (10-bit) to distance. """
00049 if raw > 100:
00050 return (497.0/(raw-56))
00051 else:
00052 return self.max_range+0.1
00053
00054 class gpA02YK(SharpIR):
00055 min_range = 0.20
00056 max_range = 1.50
00057
00058 def convert(self, raw):
00059 """ Convert raw analog (10-bit) to distance. """
00060 if raw > 80:
00061 return (115.0/(raw-12))
00062 else:
00063 return self.max_range+0.1
00064
00065 class gp2d12(SharpIR):
00066 """ The typical GP2D12 IR ranger. """
00067 min_range = 0.10
00068 max_range = 0.80
00069
00070 def convert(self, raw):
00071 """ Convert raw analog (10-bit) to distance. """
00072 if raw > 40:
00073 return (52.0/(raw-12))
00074 else:
00075 return self.max_range+0.1
00076
00077 class maxSonar():
00078 radiation_type = Range.ULTRASOUND
00079 field_of_view = 0.785398163
00080 min_range = 0.0
00081 max_range = 6.4516
00082
00083 def convert(self, raw):
00084 """ Convert raw analog (10-bit) to distance. """
00085 return 12.7 * (raw/1024.0)
00086