C++ ArSensorReading::getSensorTh方法代码示例

void sonar_stop(ArRobot* robot)
{
	int numSonar; //Number of sonar on the robot
	int i; //Counter for looping
	//int j;
	numSonar = robot->getNumSonar(); //Get number of sonar
	ArSensorReading* sonarReading; //To hold each reading
	//for (j = 1; j < 6; j++)
	//{
	robot->setVel(200); //Set translational velocity to 200 mm/s
	for (;;)
	{
		for (i = 0; i < numSonar; i++) //Loop through sonar
	
		
		{
			sonarReading = robot->getSonarReading(i); //Get each sonar reading
			cout << "Sonar reading " << i << " = " << sonarReading->getRange()
				<< " Angle " << i << " = " << sonarReading->getSensorTh() << "\n";
			//getchar();

			if (sonarReading->getSensorTh() > -90 && sonarReading->getSensorTh() < 90 && sonarReading->getRange() < 500)

				robot->setVel(0);
		}
	}
			//<< " Angle " << i << " = " <<
			//printf("Sonar Reading", i, "=",sonarReading)
			//robot->unlock(); //Lock robot during set up 18
			//robot->comInt(ArCommands::ENABLE, 1); //Turn on the motors 19	

		//robot->setVel(200); //Set translational velocity to 200 mm/s
		//if (sonarReading[1] < 500)
		//{
			//robot->setRotVel(0);
		//}
		
	}

/*-------------------------------------------------------------
					getSonarsReadings
-------------------------------------------------------------*/
void CActivMediaRobotBase::getSonarsReadings( bool &thereIsObservation, CObservationRange	&obs )
{
#if MRPT_HAS_ARIA
	ASSERTMSG_(THE_ROBOT!=NULL, "Robot is not connected")
	THE_ROBOT->lock();

	obs.minSensorDistance = 0;
	obs.maxSensorDistance = 30;

	int		i,N =THE_ROBOT->getNumSonar();

	obs.sensorLabel = "BASE_SONARS";
	obs.sensorConeApperture = DEG2RAD( 30 );
	obs.timestamp = system::now();

	obs.sensedData.clear();

	unsigned int time_cnt = THE_ROBOT->getCounter();

	if (m_lastTimeSonars == time_cnt)
	{
		thereIsObservation = false;
		THE_ROBOT->unlock();
		return;
	}

	for (i=0;i<N;i++)
	{
		ArSensorReading		*sr = THE_ROBOT->getSonarReading(i);

		if (sr->getIgnoreThisReading()) continue;

//		if (!sr->isNew(time_cnt))
//		{
			//thereIsObservation = false;
			//break;
//		}

		obs.sensedData.push_back( CObservationRange::TMeasurement() );
		CObservationRange::TMeasurement & newObs = obs.sensedData.back();

		newObs.sensorID = i;
		newObs.sensorPose.x = 0.001*sr->getSensorX();
		newObs.sensorPose.y = 0.001*sr->getSensorY();
		newObs.sensorPose.z = 0; //0.001*sr->getSensorZ();
		newObs.sensorPose.yaw = DEG2RAD( sr->getSensorTh() );
		newObs.sensorPose.pitch = 0;
		newObs.sensorPose.roll = 0;

		newObs.sensedDistance = 0.001*THE_ROBOT->getSonarRange(i);
	}
	THE_ROBOT->unlock();

	thereIsObservation = !obs.sensedData.empty();

	// keep the last time:
	if (thereIsObservation)
		m_lastTimeSonars = time_cnt;

#else
	MRPT_UNUSED_PARAM(thereIsObservation); MRPT_UNUSED_PARAM(obs);
	THROW_EXCEPTION("MRPT has been compiled with 'MRPT_BUILD_ARIA'=OFF, so this class cannot be used.");
#endif
}

void ArLaserFilter::processReadings(void)
{
  myLaser->lockDevice();
  selfLockDevice();

  const std::list<ArSensorReading *> *rdRawReadings;
  std::list<ArSensorReading *>::const_iterator rdIt;
  
  if ((rdRawReadings = myLaser->getRawReadings()) == NULL)
  {
    selfUnlockDevice();
    myLaser->unlockDevice();
    return;
  }

  size_t rawSize = myRawReadings->size();
  size_t rdRawSize = myLaser->getRawReadings()->size();
  
  while (rawSize < rdRawSize)
  {
    myRawReadings->push_back(new ArSensorReading);
    rawSize++;
  }

  // set where the pose was taken
  myCurrentBuffer.setPoseTaken(
	  myLaser->getCurrentRangeBuffer()->getPoseTaken());
  myCurrentBuffer.setEncoderPoseTaken(
	  myLaser->getCurrentRangeBuffer()->getEncoderPoseTaken());


  std::list<ArSensorReading *>::iterator it;
  ArSensorReading *rdReading;
  ArSensorReading *reading;

#ifdef DEBUGRANGEFILTER
  FILE *file = NULL;
  file = ArUtil::fopen("/mnt/rdsys/tmp/filter", "w");
#endif

  std::map<int, ArSensorReading *> readingMap;
  int numReadings = 0;

  // first pass to copy the readings and put them into a map
  for (rdIt = rdRawReadings->begin(), it = myRawReadings->begin();
       rdIt != rdRawReadings->end() && it != myRawReadings->end();
       rdIt++, it++)
  {
    rdReading = (*rdIt);
    reading = (*it);
    *reading = *rdReading;
    
    readingMap[numReadings] = reading;
    numReadings++;
  }
  
  char buf[1024];
  int i;
  int j;
  ArSensorReading *lastAddedReading = NULL;
  
  // now walk through the readings to filter them
  for (i = 0; i < numReadings; i++)
  {
    reading = readingMap[i];

    // if we're ignoring this reading then just get on with life
    if (reading->getIgnoreThisReading())
      continue;

    if (myMaxRange >= 0 && reading->getRange() > myMaxRange)
    {
      reading->setIgnoreThisReading(true);
      continue;
    }
      
    if (lastAddedReading != NULL)
    {

      if (lastAddedReading->getPose().findDistanceTo(reading->getPose()) < 50)
      {
#ifdef DEBUGRANGEFILTER
	if (file != NULL)
	  fprintf(file, "%.1f too close from last %6.0f\n", 
		  reading->getSensorTh(),
		  lastAddedReading->getPose().findDistanceTo(
			  reading->getPose()));
#endif
	reading->setIgnoreThisReading(true);
	continue;
      }
#ifdef DEBUGRANGEFILTER
      else if (file != NULL)
	fprintf(file, "%.1f from last %6.0f\n", 
		reading->getSensorTh(),
		lastAddedReading->getPose().findDistanceTo(
			reading->getPose()));
#endif
    }

//.........这里部分代码省略.........

void ArLaser::laserProcessReadings(void)
{
  // if we have no readings... don't do anything
  if (myRawReadings == NULL || myRawReadings->begin() == myRawReadings->end())
    return;

  std::list<ArSensorReading *>::iterator sensIt;
  ArSensorReading *sReading;
  double x, y;
  double lastX = 0.0, lastY = 0.0;
  //unsigned int i = 0;
  ArTime len;
  len.setToNow();

  bool clean;
  if (myCumulativeCleanInterval <= 0 ||
      (myCumulativeLastClean.mSecSince() > 
       myCumulativeCleanInterval))
  {
    myCumulativeLastClean.setToNow();
    clean = true;
  }
  else
  {
    clean = false;
  }
  
  myCurrentBuffer.setPoseTaken(myRawReadings->front()->getPoseTaken());
  myCurrentBuffer.setEncoderPoseTaken(
	  myRawReadings->front()->getEncoderPoseTaken());
  myCurrentBuffer.beginRedoBuffer();	  

  // walk the buffer of all the readings and see if we want to add them
  for (sensIt = myRawReadings->begin(); 
       sensIt != myRawReadings->end(); 
       ++sensIt)
  {
    sReading = (*sensIt);

    // if we have ignore readings then check them here
    if (!myIgnoreReadings.empty() && 
	(myIgnoreReadings.find(
		(int) ceil(sReading->getSensorTh())) != 
	 myIgnoreReadings.end()) || 
	myIgnoreReadings.find(
		(int) floor(sReading->getSensorTh())) != 
	myIgnoreReadings.end())
      sReading->setIgnoreThisReading(true);

    // see if the reading is valid
    if (sReading->getIgnoreThisReading())
      continue;

    // if we have a max range then check it here... 
    if (myMaxRange != 0 && 
	sReading->getRange() > myMaxRange)
    {
      sReading->setIgnoreThisReading(true);
    }

    // see if the reading is valid... this is set up this way so that
    // max range readings can cancel out other readings, but will
    // still be ignored other than that... ones ignored for other
    // reasons were skipped above
    if (sReading->getIgnoreThisReading())
    {
      internalProcessReading(sReading->getX(), sReading->getY(), 
			     sReading->getRange(), clean, true);
      continue;
    }

    // get our coords
    x = sReading->getX();
    y = sReading->getY();
    
    // see if we're checking on the filter near dist... if we are
    // and the reading is a good one we'll check the cumulative
    // buffer
    if (myMinDistBetweenCurrentSquared > 0.0000001)
    {
      // see where the last reading was
      //squaredDist = (x-lastX)*(x-lastX) + (y-lastY)*(y-lastY);
      // see if the reading is far enough from the last reading
      if (ArMath::squaredDistanceBetween(x, y, lastX, lastY) > 
	  myMinDistBetweenCurrentSquared)
      {
	lastX = x;
	lastY = y;
	// since it was a good reading, see if we should toss it in
	// the cumulative buffer... 
	internalProcessReading(x, y, sReading->getRange(), clean, false);
	
	/* we don't do this part anymore since it wound up leaving
	// too many things not really tehre... if its outside of our
	// sensor angle to use to filter then don't let this one
	// clean  (ArMath::fabs(sReading->getSensorTh()) > 50)
	// filterAddAndCleanCumulative(x, y, false); else*/
      }
      // it wasn't far enough, skip this one and go to the next one
      else
//.........这里部分代码省略.........

void sonarPrinter(void)
{
  fprintf(stdout, "in sonarPrinter()\n"); fflush(stdout);
  double scale = (double)half_size / (double)sonar.getMaxRange();

  /*
  ArSonarDevice *sd;

  std::list<ArPoseWithTime *>::iterator it;
  std::list<ArPoseWithTime *> *readings;
  ArPose *pose;

  sd = (ArSonarDevice *)robot->findRangeDevice("sonar");
  if (sd != NULL)
  {
    sd->lockDevice();
    readings = sd->getCurrentBuffer();
    if (readings != NULL)
    {
      for (it = readings->begin(); it != readings->end(); ++it)
      {
        pose = (*it);
        //pose->log();
      }
    }
    sd->unlockDevice();
  }
*/
  double range;
  double angle;

  /*
   * example to show how to find closest readings within polar sections
   */
  printf("Closest readings within polar sections:\n");

  double start_angle = -45;
  double end_angle = 45;
  range = sonar.currentReadingPolar(start_angle, end_angle, &angle);
  printf(" front quadrant: %5.0f  ", range);
  //if (range != sonar.getMaxRange())
  if (std::fabs(range - sonar.getMaxRange()) > std::numeric_limits<double>::epsilon())
    printf("%3.0f ", angle);
  printf("\n");
#if defined(VISP_HAVE_X11) || defined (VISP_HAVE_GDI)
  //if (isInitialized && range != sonar.getMaxRange())
  if (isInitialized && std::fabs(range - sonar.getMaxRange()) > std::numeric_limits<double>::epsilon())
  {
    double x = range * cos(vpMath::rad(angle)); // position of the obstacle in the sensor frame
    double y = range * sin(vpMath::rad(angle));

    // Conversion in pixels so that the robot frame is in the middle of the image
    double j = -y * scale + half_size; // obstacle position
    double i = -x * scale + half_size;

    vpDisplay::display(I);
    vpDisplay::displayLine(I, half_size, half_size, 0, 0, vpColor::red, 5);
    vpDisplay::displayLine(I, half_size, half_size, 0, 2*half_size-1, vpColor::red, 5);
    vpDisplay::displayLine(I, half_size, half_size, i, j, vpColor::green, 3);
    vpDisplay::displayCross(I, i, j, 7, vpColor::blue);
  }
#endif

  range = sonar.currentReadingPolar(-135, -45, &angle);
  printf(" right quadrant: %5.0f ", range);
  //if (range != sonar.getMaxRange())
  if (std::fabs(range - sonar.getMaxRange()) > std::numeric_limits<double>::epsilon())
    printf("%3.0f ", angle);
  printf("\n");

  range = sonar.currentReadingPolar(45, 135, &angle);
  printf(" left quadrant: %5.0f ", range);
  //if (range != sonar.getMaxRange())
  if (std::fabs(range - sonar.getMaxRange()) > std::numeric_limits<double>::epsilon())
    printf("%3.0f ", angle);
  printf("\n");

  range = sonar.currentReadingPolar(-135, 135, &angle);
  printf(" back quadrant: %5.0f ", range);
  //if (range != sonar.getMaxRange())
  if (std::fabs(range - sonar.getMaxRange()) > std::numeric_limits<double>::epsilon())
    printf("%3.0f ", angle);
  printf("\n");

  /*
   * example to show how get all sonar sensor data
   */
  ArSensorReading *reading;
  for (int sensor = 0; sensor < robot->getNumSonar(); sensor++)
  {
    reading = robot->getSonarReading(sensor);
    if (reading != NULL)
    {
      angle = reading->getSensorTh();
      range = reading->getRange();
      double sx = reading->getSensorX(); // position of the sensor in the robot frame
      double sy = reading->getSensorY();
      double ox = range * cos(vpMath::rad(angle)); // position of the obstacle in the sensor frame
      double oy = range * sin(vpMath::rad(angle));
      double x = sx + ox; // position of the obstacle in the robot frame
//.........这里部分代码省略.........

void ArLaserFilter::processReadings(void)
{
  myLaser->lockDevice();
  selfLockDevice();

  const std::list<ArSensorReading *> *rdRawReadings;
  std::list<ArSensorReading *>::const_iterator rdIt;
  
  if ((rdRawReadings = myLaser->getRawReadings()) == NULL)
  {
    selfUnlockDevice();
    myLaser->unlockDevice();
    return;
  }

  size_t rawSize = myRawReadings->size();
  size_t rdRawSize = myLaser->getRawReadings()->size();
  
  while (rawSize < rdRawSize)
  {
    myRawReadings->push_back(new ArSensorReading);
    rawSize++;
  }

  // set where the pose was taken
  myCurrentBuffer.setPoseTaken(
	  myLaser->getCurrentRangeBuffer()->getPoseTaken());
  myCurrentBuffer.setEncoderPoseTaken(
	  myLaser->getCurrentRangeBuffer()->getEncoderPoseTaken());


  std::list<ArSensorReading *>::iterator it;
  ArSensorReading *rdReading;
  ArSensorReading *reading;

#ifdef DEBUGRANGEFILTER
  FILE *file = NULL;
  //file = ArUtil::fopen("/mnt/rdsys/tmp/filter", "w");
  file = ArUtil::fopen("/tmp/filter", "w");
#endif

  std::map<int, ArSensorReading *> readingMap;
  int numReadings = 0;

  // first pass to copy the readings and put them into a map
  for (rdIt = rdRawReadings->begin(), it = myRawReadings->begin();
       rdIt != rdRawReadings->end() && it != myRawReadings->end();
       rdIt++, it++)
  {
    rdReading = (*rdIt);
    reading = (*it);
    *reading = *rdReading;

    readingMap[numReadings] = reading;
    numReadings++;
  }

  // if we're not doing any filtering, just short circuit out now
  if (myAllFactor <= 0 && myAnyFactor <= 0 && myAnyMinRange <= 0)
  {
    laserProcessReadings();
    copyReadingCount(myLaser);

    selfUnlockDevice();
    myLaser->unlockDevice();
#ifdef DEBUGRANGEFILTER
    if (file != NULL)
      fclose(file);
#endif
    return;
  }
  
  char buf[1024];
  int i;
  int j;
  //ArSensorReading *lastAddedReading = NULL;
  
  // now walk through the readings to filter them
  for (i = 0; i < numReadings; i++)
  {
    reading = readingMap[i];

    // if we're ignoring this reading then just get on with life
    if (reading->getIgnoreThisReading())
      continue;

    /* Taking this check out since the base class does it now and if
     * it gets marked ignore now it won't get used for clearing
     * cumulative readings

    if (myMaxRange >= 0 && reading->getRange() > myMaxRange)
    {
#ifdef DEBUGRANGEFILTER
      if (file != NULL)
	fprintf(file, "%.1f beyond max range at %d\n", 
		reading->getSensorTh(), reading->getRange());
#endif
      reading->setIgnoreThisReading(true);
      continue;
    }
//.........这里部分代码省略.........