Update of /cvsroot/playerstage/code/player/server/drivers/position/vfh
In directory
sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv10759/server/drivers/position/vfh
Modified Files:
vfh.cc vfh_algorithm.cc vfh_algorithm.h
Log Message:
fixed push/pull, and vfh
Index: vfh_algorithm.cc
===================================================================
RCS file:
/cvsroot/playerstage/code/player/server/drivers/position/vfh/vfh_algorithm.cc,v
retrieving revision 1.10
retrieving revision 1.11
diff -C2 -d -r1.10 -r1.11
*** vfh_algorithm.cc 1 Nov 2007 22:16:22 -0000 1.10
--- vfh_algorithm.cc 7 Dec 2007 01:50:15 -0000 1.11
***************
*** 404,408 ****
}
! int VFH_Algorithm::Update_VFH( double (*laser_ranges)[2],
int current_speed,
float goal_direction,
--- 404,408 ----
}
! int VFH_Algorithm::Update_VFH( double laser_ranges[361][2],
int current_speed,
float goal_direction,
***************
*** 858,862 ****
}
! int VFH_Algorithm::Calculate_Cells_Mag( double (*laser_ranges)[2], int speed
)
{
int x, y;
--- 858,862 ----
}
! int VFH_Algorithm::Calculate_Cells_Mag( double laser_ranges[361][2], int
speed )
{
int x, y;
***************
*** 910,914 ****
}
! int VFH_Algorithm::Build_Primary_Polar_Histogram( double (*laser_ranges)[2],
int speed )
{
int x, y;
--- 910,914 ----
}
! int VFH_Algorithm::Build_Primary_Polar_Histogram( double
laser_ranges[361][2], int speed )
{
int x, y;
Index: vfh.cc
===================================================================
RCS file: /cvsroot/playerstage/code/player/server/drivers/position/vfh/vfh.cc,v
retrieving revision 1.81
retrieving revision 1.82
diff -C2 -d -r1.81 -r1.82
*** vfh.cc 1 Nov 2007 22:16:22 -0000 1.81
--- vfh.cc 7 Dec 2007 01:50:15 -0000 1.82
***************
*** 285,289 ****
// Laser range and bearing values
int laser_count;
! double (*laser_ranges)[2];
// Control velocity
--- 285,290 ----
// Laser range and bearing values
int laser_count;
! //double (*laser_ranges)[2];
! double laser_ranges[361][2];
// Control velocity
***************
*** 329,336 ****
return -1;
- // FIXME
- // Allocate and intialize
- vfh_Algorithm->Init();
-
// Start the driver thread.
this->StartThread();
--- 330,333 ----
***************
*** 436,440 ****
this->laser_count = 0;
! this->laser_ranges = NULL;
return 0;
}
--- 433,437 ----
this->laser_count = 0;
! //this->laser_ranges = NULL;
return 0;
}
***************
*** 480,484 ****
this->laser_count = 0;
! this->laser_ranges = NULL;
return 0;
}
--- 477,481 ----
this->laser_count = 0;
! //this->laser_ranges = NULL;
return 0;
}
***************
*** 490,495 ****
{
this->laser->Unsubscribe(this->InQueue);
! delete [] laser_ranges;
! laser_ranges = NULL;
return 0;
}
--- 487,492 ----
{
this->laser->Unsubscribe(this->InQueue);
! //delete [] laser_ranges;
! //laser_ranges = NULL;
return 0;
}
***************
*** 500,505 ****
{
this->sonar->Unsubscribe(this->InQueue);
! delete [] laser_ranges;
! laser_ranges = NULL;
delete [] sonar_poses;
sonar_poses = NULL;
--- 497,502 ----
{
this->sonar->Unsubscribe(this->InQueue);
! //delete [] laser_ranges;
! //laser_ranges = NULL;
delete [] sonar_poses;
sonar_poses = NULL;
***************
*** 540,546 ****
db = RTOD(data.resolution);
! this->laser_count = 181;
! if (!laser_ranges)
! this->laser_ranges = new double[laser_count][2];
for(i = 0; i < laser_count; i++)
--- 537,543 ----
db = RTOD(data.resolution);
! this->laser_count = 361;
! //if (!laser_ranges)
! //this->laser_ranges = new double[laser_count][2];
for(i = 0; i < laser_count; i++)
***************
*** 581,586 ****
this->laser_count = count;
! if (!laser_ranges)
! this->laser_ranges = new double[laser_count][2];
for(i = 0; i < laser_count; i++)
--- 578,583 ----
this->laser_count = count;
! //if (!laser_ranges)
! //this->laser_ranges = new double[laser_count][2];
for(i = 0; i < laser_count; i++)
***************
*** 1060,1063 ****
--- 1057,1065 ----
// Laser settings
//TODO this->laser_max_samples = cf->ReadInt(section, "laser_max_samples",
10);
+
+ // FIXME
+ // Allocate and intialize
+ vfh_Algorithm->Init();
+
return;
Index: vfh_algorithm.h
===================================================================
RCS file:
/cvsroot/playerstage/code/player/server/drivers/position/vfh/vfh_algorithm.h,v
retrieving revision 1.7
retrieving revision 1.8
diff -C2 -d -r1.7 -r1.8
*** vfh_algorithm.h 1 Nov 2007 22:16:22 -0000 1.7
--- vfh_algorithm.h 7 Dec 2007 01:50:15 -0000 1.8
***************
*** 59,63 ****
// - goal_distance_tolerance in mm.
//
! int Update_VFH( double (*laser_ranges)[2],
int current_speed,
float goal_direction,
--- 59,63 ----
// - goal_distance_tolerance in mm.
//
! int Update_VFH( double laser_ranges[361][2],
int current_speed,
float goal_direction,
***************
*** 101,107 ****
// Returns 0 if something got inside the safety distance, else 1.
! int Calculate_Cells_Mag( double (*laser_ranges)[2], int speed );
// Returns 0 if something got inside the safety distance, else 1.
! int Build_Primary_Polar_Histogram( double (*laser_ranges)[2], int speed );
int Build_Binary_Polar_Histogram(int speed);
int Build_Masked_Polar_Histogram(int speed);
--- 101,107 ----
// Returns 0 if something got inside the safety distance, else 1.
! int Calculate_Cells_Mag( double laser_ranges[361][2], int speed );
// Returns 0 if something got inside the safety distance, else 1.
! int Build_Primary_Polar_Histogram( double laser_ranges[361][2], int speed
);
int Build_Binary_Polar_Histogram(int speed);
int Build_Masked_Polar_Histogram(int speed);
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