C++ ArSensorReading::getSensorX方法代码示例

/*-------------------------------------------------------------
					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 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.........