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36 lines
703 B
36 lines
703 B
#include "range_finder.h" |
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namespace sensor_simulator |
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{ |
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namespace sensor |
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{ |
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RangeFinder::RangeFinder(std::shared_ptr<Ekf> ekf):Sensor(ekf) |
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{ |
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} |
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RangeFinder::~RangeFinder() |
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{ |
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} |
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void RangeFinder::send(uint64_t time) |
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{ |
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_range_sample.time_us = time; |
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_ekf->setRangeData(_range_sample); |
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_ekf->set_rangefinder_limits(_min_distance, _max_distance); |
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} |
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void RangeFinder::setData(float range_data_meters, int8_t range_quality) |
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{ |
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_range_sample.rng = range_data_meters; |
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_range_sample.quality = range_quality; |
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} |
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void RangeFinder::setLimits(float min_distance_m, float max_distance_m) |
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{ |
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_min_distance = min_distance_m; |
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_max_distance = max_distance_m; |
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} |
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} // namespace sensor |
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} // namespace sensor_simulator
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