Revision: 6567
http://playerstage.svn.sourceforge.net/playerstage/?rev=6567&view=rev
Author: thjc
Date: 2008-06-13 18:19:37 -0700 (Fri, 13 Jun 2008)
Log Message:
-----------
fixed typo as per bug [ 1988993 ] Small web typo
Modified Paths:
--------------
code/player/branches/release-2-1-patches/server/drivers/laser/laserrescan.cc
Modified:
code/player/branches/release-2-1-patches/server/drivers/laser/laserrescan.cc
===================================================================
---
code/player/branches/release-2-1-patches/server/drivers/laser/laserrescan.cc
2008-06-14 01:00:19 UTC (rev 6566)
+++
code/player/branches/release-2-1-patches/server/drivers/laser/laserrescan.cc
2008-06-14 01:19:37 UTC (rev 6567)
@@ -36,7 +36,7 @@
/** @defgroup driver_laserrescan laserrescan
* @brief Laser rescanner
-The laserrescan driver processes a laser scan to create a virtual scan
+The laserrescan driver processes a laser scan to create a virtual scan
configuration. Existing scans are interpolated.
The driver was created for the purpose of using pmap with non-sick scanners
@@ -56,7 +56,7 @@
@par Configuration requests
- PLAYER_LASER_REQ_GET_GEOM
-
+
@par Configuration file options
- min_angle (float)
- Default: -pi/2
@@ -67,9 +67,9 @@
- scan_count (int)
- Default: 181
- Number of scans from min angle to max angle
-
[EMAIL PROTECTED] Example
[EMAIL PROTECTED] Example
+
@verbatim
driver
(
@@ -79,7 +79,7 @@
)
driver
(
- name "laserescan"
+ name "laserrescan"
requires ["laser:0"] # read from laser:0
provides ["laser:1"] # output results on laser:1
)
@@ -158,18 +158,18 @@
this->data.ranges_count = scan_count;
this->data.ranges = new float[scan_count];
this->data.max_range = data->max_range;
-
+
double real_min = data->min_angle;
double real_res = data->resolution;
-
+
for (i = 0; i < scan_count; ++i)
{
double theta = min_angle + i*res;
double new_i = (theta - real_min)/real_res;
-
+
unsigned int j = (int) floor(new_i);
unsigned int k = (int) ceil(new_i);
-
+
if (j < 0)
j = 0;
if (j > data->ranges_count)
@@ -180,18 +180,18 @@
if (k > data->ranges_count)
k = data->ranges_count;
-
+
double theta_j = real_min + j*real_res;
-
+
double interpolate = ((real_min +new_i*real_res) -
theta_j)/real_res;
-
+
double new_value = data->ranges[j]+(data->ranges[k] -
data->ranges[j])*interpolate;
-
+
this->data.ranges[i] = new_value;
-
+
}
- this->Publish(this->device_addr,
+ this->Publish(this->device_addr,
PLAYER_MSGTYPE_DATA, PLAYER_LASER_DATA_SCAN,
&this->data);
delete [] this->data.ranges;
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