Update of /cvsroot/playerstage/code/player/client_libs/libplayerc
In directory
sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv24320/client_libs/libplayerc
Modified Files:
Tag: release-2-0-patches
dev_laser.c playerc.h
Log Message:
merged client-side laser min-left / min-right fixes from HEAD
Index: playerc.h
===================================================================
RCS file: /cvsroot/playerstage/code/player/client_libs/libplayerc/playerc.h,v
retrieving revision 1.185.2.8
retrieving revision 1.185.2.9
diff -C2 -d -r1.185.2.8 -r1.185.2.9
*** playerc.h 18 Oct 2007 22:21:12 -0000 1.185.2.8
--- playerc.h 5 Dec 2007 21:57:34 -0000 1.185.2.9
***************
*** 1545,1548 ****
--- 1545,1557 ----
int scan_id;
+ /** Minimum range, in meters, in the right half of the scan (those ranges
+ * from the first beam, counterclockwise, up to the middle of the scan,
+ * including the middle beam, if one exists). */
+ double min_right;
+
+ /** Minimum range, in meters, in the left half of the scan (those ranges
+ * from the first beam after the middle of the scan, counterclockwise, to
+ * the last beam). */
+ double min_left;
} playerc_laser_t;
Index: dev_laser.c
===================================================================
RCS file: /cvsroot/playerstage/code/player/client_libs/libplayerc/dev_laser.c,v
retrieving revision 1.38
retrieving revision 1.38.4.1
diff -C2 -d -r1.38 -r1.38.4.1
*** dev_laser.c 11 Oct 2005 22:36:11 -0000 1.38
--- dev_laser.c 5 Dec 2007 21:57:34 -0000 1.38.4.1
***************
*** 125,128 ****
--- 125,130 ----
device->scan_res = db;
device->max_range = scan_data->max_range;
+ device->min_left = device->max_range;
+ device->min_right = device->max_range;
for (i = 0; i < scan_data->ranges_count; i++)
***************
*** 137,140 ****
--- 139,147 ----
device->intensity[i] = scan_data->intensity[i];
b += db;
+
+ if((i <= scan_data->ranges_count/2) && (r < device->min_right))
+ device->min_right = r;
+ else if((i > scan_data->ranges_count/2) && (r < device->min_left))
+ device->min_left = r;
}
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