Revision: 6902
http://playerstage.svn.sourceforge.net/playerstage/?rev=6902&view=rev
Author: jeremy_asher
Date: 2008-07-22 17:58:47 +0000 (Tue, 22 Jul 2008)
Log Message:
-----------
libstageplugin: fixed more laser bugs
Modified Paths:
--------------
code/stage/trunk/libstageplugin/p_laser.cc
code/stage/trunk/libstageplugin/test/lsp_test_laser.cc
Modified: code/stage/trunk/libstageplugin/p_laser.cc
===================================================================
--- code/stage/trunk/libstageplugin/p_laser.cc 2008-07-22 17:01:34 UTC (rev
6901)
+++ code/stage/trunk/libstageplugin/p_laser.cc 2008-07-22 17:58:47 UTC (rev
6902)
@@ -108,20 +108,20 @@
// TODO
// int intensity = plc->intensity;
- PRINT_DEBUG3( "requested laser config:\n %f %f %f",
- RTOD(plc->min_angle), RTOD(plc->max_angle),
- plc->resolution/1e2);
-
stg_laser_cfg_t cfg = mod->GetConfig();
+
+ printf( "laser config was: resolution %d, fov %.6f, interval %d\n",
+ cfg.resolution, cfg.fov, cfg.interval );
- cfg.resolution = 1.0 / plc->resolution;
cfg.fov = plc->max_angle - plc->min_angle;
+ cfg.resolution = cfg.fov / ( cfg.sample_count * plc->resolution );
+ if ( cfg.resolution < 1 )
+ cfg.resolution = 1;
cfg.interval = 1.0E6 / plc->scanning_frequency;
-
- PRINT_DEBUG4( "setting laser config: fov %.2f max_range %.2f " /
- "resolution %.2f interval %.2f",
- cfg.fov, cfg.range_bounds.max,
- cfg.resolution, cfg.interval );
+
+ //PRINT_DEBUG3
+ printf( "setting laser config: resolution %d, fov %.6f, interval
%d\n",
+ cfg.resolution, cfg.fov, cfg.interval );
// Range resolution is currently locked to the world setting
// and intensity values are always read. The relevant settings
@@ -155,7 +155,7 @@
memset(&plc,0,sizeof(plc));
plc.min_angle = -cfg.fov/2.0;
plc.max_angle = +cfg.fov/2.0;
- plc.resolution = cfg.fov / cfg.sample_count;
+ plc.resolution = cfg.fov / ( cfg.sample_count * cfg.resolution );
plc.max_range = cfg.range_bounds.max;
plc.range_res = 1.0; // todo
plc.intensity = 1; // todo
Modified: code/stage/trunk/libstageplugin/test/lsp_test_laser.cc
===================================================================
--- code/stage/trunk/libstageplugin/test/lsp_test_laser.cc 2008-07-22
17:01:34 UTC (rev 6901)
+++ code/stage/trunk/libstageplugin/test/lsp_test_laser.cc 2008-07-22
17:58:47 UTC (rev 6902)
@@ -54,20 +54,23 @@
void Laser::testData() {
playerc_client_read( client );
+ // verify that we're getting new data
+ laserProxy->info.fresh = 0;
+ playerc_client_read( client );
+ CPPUNIT_ASSERT_MESSAGE( "laser updating", laserProxy->info.fresh == 1 );
+
CPPUNIT_ASSERT( laserProxy->info.datatime > 0 );
CPPUNIT_ASSERT( laserProxy->scan_count == Samples );
CPPUNIT_ASSERT_DOUBLES_EQUAL_MESSAGE( "min scan angle", -M_PI/2,
laserProxy->scan[0][1], Delta );
CPPUNIT_ASSERT_DOUBLES_EQUAL_MESSAGE( "max scan angle", M_PI/2,
laserProxy->scan[Samples-1][1], Delta );
+
for ( int i = 0; i < laserProxy->scan_count; i++ ) {
double distance = laserProxy->scan[i][0];
+
+ // check range of each sample is within max and min
CPPUNIT_ASSERT( distance <= laserProxy->max_range );
CPPUNIT_ASSERT( distance >= laserProxy->min_right );
-// printf("[%6.3f, %6.3f ] \n", laserProxy->scan[i][0],
laserProxy->scan[i][1]);
+
+ // printf("[%6.3f, %6.3f ] \n", laserProxy->scan[i][0],
laserProxy->scan[i][1]);
}
-
- laserProxy->info.fresh = 0;
- playerc_client_read( client );
- CPPUNIT_ASSERT( laserProxy->info.fresh == 1 );
-
- // check range of each is within max and min
}
\ No newline at end of file
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