Revision: 6419
http://playerstage.svn.sourceforge.net/playerstage/?rev=6419&view=rev
Author: thjc
Date: 2008-05-10 21:52:18 -0700 (Sat, 10 May 2008)
Log Message:
-----------
Merged 6404,6405 from trunk, urg laser fixes
Modified Paths:
--------------
code/player/branches/release-2-1-patches/server/drivers/laser/urg_laser.cc
code/player/branches/release-2-1-patches/server/drivers/laser/urglaserdriver.cc
Modified:
code/player/branches/release-2-1-patches/server/drivers/laser/urg_laser.cc
===================================================================
--- code/player/branches/release-2-1-patches/server/drivers/laser/urg_laser.cc
2008-05-11 04:45:52 UTC (rev 6418)
+++ code/player/branches/release-2-1-patches/server/drivers/laser/urg_laser.cc
2008-05-11 04:52:18 UTC (rev 6419)
@@ -316,9 +316,9 @@
else // SCIP_Version = 3 (TOP-URG)
{
// HACK: should ask the device, but for now just hardcode it:
- cfg->min_angle = DTOR(-135.0);
- cfg->max_angle = DTOR(135.0);
- cfg->resolution = DTOR(270.0/1128.0);
+ cfg->min_angle = DTOR(-141.0);
+ cfg->max_angle = DTOR(141.0);
+ cfg->resolution = DTOR(282.0/1128.0);
cfg->max_range = 30.0;
printf ("> I: TOP-URG specifications: [min_angle, max_angle, resolution,
max_range] = [%f, %f, %f, %f]\n",
Modified:
code/player/branches/release-2-1-patches/server/drivers/laser/urglaserdriver.cc
===================================================================
---
code/player/branches/release-2-1-patches/server/drivers/laser/urglaserdriver.cc
2008-05-11 04:45:52 UTC (rev 6418)
+++
code/player/branches/release-2-1-patches/server/drivers/laser/urglaserdriver.cc
2008-05-11 04:52:18 UTC (rev 6419)
@@ -340,7 +340,7 @@
// TODO: check this value
Data.max_range = Conf.max_range;
Data.resolution = Conf.resolution;
- Data.ranges_count = (max_i - min_i) + 1;
+ Data.ranges_count = (max_i - min_i);
Data.ranges = new float [Data.ranges_count];
// TODO: look into getting intensity data
Data.intensity_count = 0;
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