Glossary Item Box
The Generic Sonar service enables you to access data from a sonar sensor, including information about the current distance measurement and angular range and resolution. Sonar sensors use sound waves (typically ultrasonic) to determine distance. Since some materials can absorb sounds or may bounce off outside the incoming detector's range, the sensor can be unreliable when used by itself. Therefore multiple sonar sensors are generally used in a ring-like arrangement to make up for some of these limitations.
The Generic Sonar service provides the following operations.
|Get||Returns the entire state of the encoder service.|
|SonarUpdate||Changes or notifies a change to the state of the sonar.|
The SonarUpdate operation is also available as a notification.
The state of a sonar sensor is represented by the following properties:
|AngularRange||double||Specifies the sonar's scanning angle.|
|AngularResolution||double||Specifies the smallest of the detectable features in radians.|
|DistanceMeasurement||double||Specifies the sonar's distance reading.|
|DistanceMeasurements||array of double||Specifies a set of distance readings.|
|HardwareIdentifier||int||Identifies the hardware port the sonar sensor uses.|
|MaxDistance||int||Specifies the maximum distance the sonar sensor can read.|
|Pose||Pose||Indicates the position and orientation of the sonar sensor.|
|TimeStamp||DateTime||Indicates the timestamp of the sonar's reading.|
Updated information might be available online in the MSDN Library page:
Robotics Common: Robotics Common Overview
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