CollisionInterface.h

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/***************************************************************
 
 Mini Grand Challenge 2010
 Pennsylvania State University - Robotics Club
 Learn more at www.psurobotics.org
 Protected by the GNU General Public License
 
 This source file is developed and maintained by:
 + Marshall Conover marzhall.o@gmail.com
 
 File: CrashDetector.cpp/h: A process that continually takes 
 input from the LIDAR and looks for collisions. It uses a constant to 
 decide the distance under which to mark as a collision. It then 
 reports these collisions by putting them in a queue to be read. 

***************************************************************/

// Inclusion guard
#ifndef __COLLISIONINTERFACE_H__
#define __COLLISIONINTERFACE_H__

// Includes
#include "../Shared/Utilities.h"
#include "../Shared/BaseComponent.h"
#include "../Shared/Vector2.h"
#include "../Shared/List.h"
#include <cmath>

class CollisionInterface : public BaseComponent
{

public:
        
        //<! Constructor
        CollisionInterface();

        //<! Standard destructor
        ~CollisionInterface();

private:
        
        char* computeCol;
        
        static const int MAX_QUEUE_SIZE = 32;

        static const int HIT_DISTANCE = 10; 

        float (*CircularQueue)[MAX_QUEUE_SIZE]; 


        int CircularQueueIndex;

        double delta;  
        int numInArray; 
        int* distances;  

        bool* results;  
};

// End of inclusion guard
#endif

---