Update of /cvsroot/playerstage/code/player/server/drivers/position/vfh
In directory
sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv1338/server/drivers/position/vfh
Modified Files:
vfh.cc
Log Message:
applied patch 1749747 to transition to 3d pose structures
Index: vfh.cc
===================================================================
RCS file: /cvsroot/playerstage/code/player/server/drivers/position/vfh/vfh.cc,v
retrieving revision 1.77
retrieving revision 1.78
diff -C2 -d -r1.77 -r1.78
*** vfh.cc 8 Dec 2006 19:02:21 -0000 1.77
--- vfh.cc 9 Jul 2007 17:18:02 -0000 1.78
***************
*** 281,285 ****
player_devaddr_t sonar_addr;
int num_sonars;
! player_pose_t sonar_poses[PLAYER_SONAR_MAX_SAMPLES];
// Laser range and bearing values
--- 281,285 ----
player_devaddr_t sonar_addr;
int num_sonars;
! player_pose3d_t sonar_poses[PLAYER_SONAR_MAX_SAMPLES];
// Laser range and bearing values
***************
*** 591,596 ****
for(i = 0; i < (int)data.ranges_count; i++)
{
! for(b = RTOD(this->sonar_poses[i].pa) + 90.0 - cone_width/2.0;
! b < RTOD(this->sonar_poses[i].pa) + 90.0 + cone_width/2.0;
b+=0.5)
{
--- 591,596 ----
for(i = 0; i < (int)data.ranges_count; i++)
{
! for(b = RTOD(this->sonar_poses[i].pyaw) + 90.0 - cone_width/2.0;
! b < RTOD(this->sonar_poses[i].pyaw) + 90.0 + cone_width/2.0;
b+=0.5)
{
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