Revision: 8229
http://playerstage.svn.sourceforge.net/playerstage/?rev=8229&view=rev
Author: gbiggs
Date: 2009-08-26 08:30:24 +0000 (Wed, 26 Aug 2009)
Log Message:
-----------
Applied patch #2844288: fixed playerv display on ranger data
Modified Paths:
--------------
code/player/trunk/client_libs/libplayerc/dev_ranger.c
code/player/trunk/utils/playerv/pv_dev_ranger.c
Modified: code/player/trunk/client_libs/libplayerc/dev_ranger.c
===================================================================
--- code/player/trunk/client_libs/libplayerc/dev_ranger.c 2009-08-26
08:23:52 UTC (rev 8228)
+++ code/player/trunk/client_libs/libplayerc/dev_ranger.c 2009-08-26
08:30:24 UTC (rev 8229)
@@ -276,6 +276,7 @@
device->min_angle = config->min_angle;
device->max_angle = config->max_angle;
device->angular_res = config->angular_res;
+ device->min_range = config->min_range;
device->max_range = config->max_range;
device->range_res = config->range_res;
device->frequency = config->frequency;
Modified: code/player/trunk/utils/playerv/pv_dev_ranger.c
===================================================================
--- code/player/trunk/utils/playerv/pv_dev_ranger.c 2009-08-26 08:23:52 UTC
(rev 8228)
+++ code/player/trunk/utils/playerv/pv_dev_ranger.c 2009-08-26 08:30:24 UTC
(rev 8229)
@@ -221,10 +221,13 @@
// Assume the range is straight ahead (ignore min_angle and angular_res
properties)
points[0][0] = 0.0f;
points[0][1] = 0.0f;
- points[1][0] = ranger->proxy->ranges[ii] * cos(-temp);
- points[1][1] = ranger->proxy->ranges[ii] * sin(-temp);
- points[2][0] = ranger->proxy->ranges[ii] * cos(temp);
- points[2][1] = ranger->proxy->ranges[ii] * sin(temp);
+ double range = ranger->proxy->ranges[ii];
+ if (range < ranger->proxy->min_range)
+ range = ranger->proxy->max_range;
+ points[1][0] = range * cos(-temp);
+ points[1][1] = range * sin(-temp);
+ points[2][0] = range * cos(temp);
+ points[2][1] = range * sin(temp);
rtk_fig_polygon(ranger->scan_fig[ii], 0, 0, 0, 3, points, 1);
// Draw the sensor itself
@@ -249,27 +252,37 @@
// Draw empty space
points[0][0] = 0.0;
points[0][1] = 0.0;
+ double b = ranger->proxy->min_angle;
for (ii = 0; ii < ranger->proxy->ranges_count; ii++)
{
- points[ii + 1][0] = ranger->proxy->points[ii].px;
- points[ii + 1][1] = ranger->proxy->points[ii].py;
+ double range = ranger->proxy->ranges[ii];
+ if (range < ranger->proxy->min_range) {
+ points[ii + 1][0] = ranger->proxy->max_range * cos(b);
+ points[ii + 1][1] = ranger->proxy->max_range * sin(b);
+ }
+ else {
+ points[ii + 1][0] = ranger->proxy->points[ii].px;
+ points[ii + 1][1] = ranger->proxy->points[ii].py;
+ }
+ b += ranger->proxy->angular_res;
}
rtk_fig_color_rgb32(ranger->scan_fig[0], COLOR_LASER_EMP);
rtk_fig_polygon(ranger->scan_fig[0], 0, 0, 0,
ranger->proxy->ranges_count + 1, points, 1);
- free(points);
- points = NULL;
// Draw occupied space
rtk_fig_color_rgb32(ranger->scan_fig[0], COLOR_LASER_OCC);
for (ii = 1; ii < ranger->proxy->ranges_count; ii++)
{
- point1[0] = ranger->proxy->points[ii - 1].px;
- point1[1] = ranger->proxy->points[ii - 1].py;
- point2[0] = ranger->proxy->points[ii].px;
- point2[1] = ranger->proxy->points[ii].py;
+ point1[0] = points[ii][0];
+ point1[1] = points[ii][1];
+ point2[0] = points[ii+1][0];
+ point2[1] = points[ii+1][1];
rtk_fig_line(ranger->scan_fig[0], point1[0], point1[1], point2[0],
point2[1]);
}
+ free(points);
+ points = NULL;
+
}
else
{
@@ -278,13 +291,31 @@
rtk_fig_color_rgb32(ranger->scan_fig[0], COLOR_LASER_OCC);
// Get the first point
- point1[0] = ranger->proxy->points[0].px;
- point1[1] = ranger->proxy->points[0].py;
+
+ double b = ranger->proxy->min_angle;
+
+ double range = ranger->proxy->ranges[0];
+ if (range < ranger->proxy->min_range) {
+ point1[0] = ranger->proxy->max_range * cos(b);
+ point1[1] = ranger->proxy->max_range * sin(b);
+ }
+ else {
+ point1[0] = ranger->proxy->points[0].px;
+ point1[1] = ranger->proxy->points[0].py;
+ }
// Loop over the rest of the ranges
for (ii = 1; ii < ranger->proxy->ranges_count; ii++)
{
- point2[0] = ranger->proxy->points[ii].px;
- point2[1] = ranger->proxy->points[ii].py;
+ b += ranger->proxy->angular_res;
+ range = ranger->proxy->ranges[ii];
+ if (range < ranger->proxy->min_range) {
+ point2[0] = ranger->proxy->max_range * cos(b);
+ point2[1] = ranger->proxy->max_range * sin(b);
+ }
+ else {
+ point2[0] = ranger->proxy->points[ii].px;
+ point2[1] = ranger->proxy->points[ii].py;
+ }
// Draw a line from point 1 (previous point) to point 2 (current point)
rtk_fig_line(ranger->scan_fig[0], point1[0], point1[1], point2[0],
point2[1]);
point1[0] = point2[0];
@@ -295,16 +326,25 @@
if (rtk_menuitem_ischecked(ranger->intns_item))
{
// Draw an intensity scan
+ double b = ranger->proxy->min_angle;
if (ranger->proxy->intensities_count > 0)
{
for (ii = 0; ii < ranger->proxy->intensities_count; ii++)
{
if (ranger->proxy->intensities[ii] != 0)
{
- point1[0] = ranger->proxy->points[ii].px;
- point1[1] = ranger->proxy->points[ii].py;
+ double range = ranger->proxy->ranges[ii];
+ if (range < ranger->proxy->min_range) {
+ point1[0] = ranger->proxy->max_range * cos(b);
+ point1[1] = ranger->proxy->max_range * sin(b);
+ }
+ else {
+ point1[0] = ranger->proxy->points[ii].px;
+ point1[1] = ranger->proxy->points[ii].py;
+ }
rtk_fig_rectangle(ranger->scan_fig[0], point1[0], point1[1], 0,
0.05, 0.05, 1);
}
+ b += ranger->proxy->angular_res;
}
}
}
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