Update of /cvsroot/playerstage/code/player/server/drivers/position/vfh
In directory
sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv762/server/drivers/position/vfh
Modified Files:
Tag: release-2-0-patches
vfh.cc
Log Message:
merged various changes from HEAD
Index: vfh.cc
===================================================================
RCS file: /cvsroot/playerstage/code/player/server/drivers/position/vfh/vfh.cc,v
retrieving revision 1.71.2.1
retrieving revision 1.71.2.2
diff -C2 -d -r1.71.2.1 -r1.71.2.2
*** vfh.cc 7 Jun 2006 16:12:53 -0000 1.71.2.1
--- vfh.cc 22 Sep 2006 20:46:43 -0000 1.71.2.2
***************
*** 19,22 ****
--- 19,24 ----
* @brief Vector Field Histogram local navigation algorithm
+ @note This driver may take several seconds to start up, especially on slower
machines. You may want to set the 'alwayson' option for vfh to '1' in your
configuration file in order to front-load this delay. Otherwise, your client
may experience a timeout in trying to subscribe to this device.
+
The vfh driver implements the Vector Field Histogram Plus local
navigation method by Ulrich and Borenstein. VFH+ provides real-time
***************
*** 69,72 ****
--- 71,79 ----
supports them)
+ @par Supported commands
+
+ - PLAYER_POSITION2D_CMD_POS : Position control. This is the normal way to
use vfh. Velocity commands will be sent to the underlying @ref
interface_position2d device to drive it toward the given pose.
+ - PLAYER_POSITION2D_CMD_VEL : Velocity control. Position control is disabled
and the velocities are passed directly through to the underlyin @ref
interface_position2d device.
+
@par Configuration file options
***************
*** 542,546 ****
for(i = 0; i < 181; i++)
{
! unsigned int index = rint(i/db);
assert(index >= 0 && index < data.ranges_count);
this->laser_ranges[i*2][0] = data.ranges[index] * 1e3;
--- 549,553 ----
for(i = 0; i < 181; i++)
{
! unsigned int index = (int)rint(i/db);
assert(index >= 0 && index < data.ranges_count);
this->laser_ranges[i*2][0] = data.ranges[index] * 1e3;
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