Update of /cvsroot/playerstage/code/stage/examples/ctrl
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv26853/examples/ctrl
Modified Files:
Makefile.am
Added Files:
lasernoise.cc
Log Message:
added laser noise generating plugin as a demo
Index: Makefile.am
===================================================================
RCS file: /cvsroot/playerstage/code/stage/examples/ctrl/Makefile.am,v
retrieving revision 1.2
retrieving revision 1.3
diff -C2 -d -r1.2 -r1.3
*** Makefile.am 3 Mar 2008 06:02:25 -0000 1.2
--- Makefile.am 4 Mar 2008 02:09:56 -0000 1.3
***************
*** 5,9 ****
! lib_LTLIBRARIES = wander.la fasr.la source.la sink.la
# WANDER CONTROLLER
--- 5,9 ----
! lib_LTLIBRARIES = wander.la fasr.la source.la sink.la lasernoise.la
# WANDER CONTROLLER
***************
*** 22,23 ****
--- 22,27 ----
sink_la_SOURCES = sink.cc ../../libstage/stage.hh
sink_la_LDFLAGS = -module
+
+ # laser noise
+ lasernoise_la_SOURCES = lasernoise.cc ../../libstage/stage.hh
+ lasernoise_la_LDFLAGS = -module
--- NEW FILE: lasernoise.cc ---
/*
File lasernoise.cc: laser noise plugin demo for Stage
Author: Richard Vaughan
Date: 3 March 2008
CVS: $Id: lasernoise.cc,v 1.1 2008/03/04 02:09:56 rtv Exp $
*/
#include "stage.hh"
using namespace Stg;
const double DEVIATION = 0.05;
double SimpleNormalDeviate( double mean, double stddev )
{
double x = 0.0;
for( int i=0; i<12; i++ )
x += rand()/(RAND_MAX+1.0);
return ( stddev * (x - 6.0) + mean );
}
// process the laser data
int LaserUpdate( StgModelLaser* mod, void* dummy )
{
// get the data
uint32_t sample_count=0;
stg_laser_sample_t* scan = mod->GetSamples( &sample_count );
if( scan )
for( int i=0; i<sample_count; i++ )
scan[i].range *= SimpleNormalDeviate( 1.0, DEVIATION );
return 0; // run again
}
// Stage calls this when the model starts up. we just add a callback to
// the model that gets called just after the sensor update is done.
extern "C" int Init( StgModel* mod )
{
mod->AddUpdateCallback( (stg_model_callback_t)LaserUpdate, NULL );
return 0; // ok
}
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