Update of /cvsroot/playerstage/code/player/server/drivers/laser
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv11204/server/drivers/laser
Modified Files:
sicks3000.cc
Log Message:
added pose setting for nav200
added option to invert s300/s3000 laser data
Index: sicks3000.cc
===================================================================
RCS file: /cvsroot/playerstage/code/player/server/drivers/laser/sicks3000.cc,v
retrieving revision 1.9
retrieving revision 1.10
diff -C2 -d -r1.9 -r1.10
*** sicks3000.cc 18 Dec 2007 05:05:08 -0000 1.9
--- sicks3000.cc 20 Dec 2007 23:28:27 -0000 1.10
***************
*** 167,170 ****
--- 167,172 ----
int scan_min_segment, scan_max_segment;
+ IntProperty mirror;
+
bool recognisedScanner;
***************
*** 211,215 ****
// Constructor
SickS3000::SickS3000(ConfigFile* cf, int section)
! : Driver(cf, section, true, PLAYER_MSGQUEUE_DEFAULT_MAXLEN,
PLAYER_LASER_CODE)
{
--- 213,217 ----
// Constructor
SickS3000::SickS3000(ConfigFile* cf, int section)
! : Driver(cf, section, true, PLAYER_MSGQUEUE_DEFAULT_MAXLEN,
PLAYER_LASER_CODE), mirror("mirror", 0, 0)
{
***************
*** 220,226 ****
assert(rx_buffer);
recognisedScanner = false;
- // Assume s300
memset(&data_packet,0,sizeof(data_packet));
data_packet.min_angle = DTOR(-135);
--- 222,229 ----
assert(rx_buffer);
+ this->RegisterProperty ("mirror", &this->mirror, cf, section);
+
recognisedScanner = false;
memset(&data_packet,0,sizeof(data_packet));
data_packet.min_angle = DTOR(-135);
***************
*** 483,487 ****
Distance_CM &= 0x1fff; // remove status bits
double distance_m = static_cast<double>(Distance_CM)/100.0;
! data_packet.ranges[ii] = distance_m;
}
--- 486,493 ----
Distance_CM &= 0x1fff; // remove status bits
double distance_m = static_cast<double>(Distance_CM)/100.0;
! if (mirror == 1)
! data_packet.ranges[data_count - ii - 1] = distance_m; //
Reverse order.
! else
! data_packet.ranges[ii] = distance_m;
}
-------------------------------------------------------------------------
This SF.net email is sponsored by: Microsoft
Defy all challenges. Microsoft(R) Visual Studio 2005.
http://clk.atdmt.com/MRT/go/vse0120000070mrt/direct/01/
_______________________________________________
Playerstage-commit mailing list
[email protected]
https://lists.sourceforge.net/lists/listinfo/playerstage-commit
