simplified ranger API

rtv · Jul 22, 2010 · 7aa3b14 · 7aa3b14
1 parent 7198607
commit 7aa3b14
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Showing 8 changed files with 176 additions and 246 deletions.
diff --git a/examples/ctrl/fasr.cc b/examples/ctrl/fasr.cc
@@ -66,8 +66,8 @@ class Robot
 			Model* source,
 			Model* sink ) 
 	 : pos(pos), 
-		ranger( (ModelRanger*)pos->GetChild( "ranger:0" )),
 		laser( (ModelRanger*)pos->GetChild( "ranger:1" )),
+		ranger( (ModelRanger*)pos->GetChild( "ranger:0" )),
 		fiducial( (ModelFiducial*)pos->GetUnusedModelOfType( "fiducial" )),	
 		//blobfinder( (ModelBlobfinder*)pos->GetUnusedModelOfType( "blobfinder" )),
 		//gripper( (ModelGripper*)pos->GetUnusedModelOfType( "gripper" )),
@@ -212,33 +212,32 @@ class Robot
 	 double minright = 1e6;
 
 	 // Get the data from the first sensor of the laser 
-	 const std::vector<ModelRanger::Sensor::Sample>& scan = 
-		 laser->GetSamples();
+	 const std::vector<meters_t>& scan = laser->GetRanges();
 
 	 uint32_t sample_count = scan.size();
 
 	 for (uint32_t i = 0; i < sample_count; i++)
 		{		
-		  if( verbose ) printf( "%.3f ", scan[i].range );
+		  if( verbose ) printf( "%.3f ", scan[i] );
 
 		  if( (i > (sample_count/4)) 
 				&& (i < (sample_count - (sample_count/4))) 
-				&& scan[i].range < minfrontdistance)
+				&& scan[i] < minfrontdistance)
 			 {
 				if( verbose ) puts( "  obstruction!" );
 				obstruction = true;
 			 }
 
-		  if( scan[i].range < stopdist )
+		  if( scan[i] < stopdist )
 			 {
 				if( verbose ) puts( "  stopping!" );
 				stop = true;
 			 }
 
 		  if( i > sample_count/2 )
-				minleft = std::min( minleft, scan[i].range );
+				minleft = std::min( minleft, scan[i] );
 		  else      
-				minright = std::min( minright, scan[i].range );
+				minright = std::min( minright, scan[i] );
 		}
 
 	 if( verbose ) 

diff --git a/examples/ctrl/fasr2.cc b/examples/ctrl/fasr2.cc
@@ -563,7 +563,7 @@ class Robot
 				const std::vector<ModelRanger::Sensor>& sensors = sonar->GetSensors();
 
 				for( unsigned int s = BACK_SENSOR_FIRST; s <= BACK_SENSOR_LAST; ++s )
-					if( sensors[s].samples[0].range < wait_distance) 
+					if( sensors[s].ranges[0] < wait_distance) 
 						{
 							pos->Say( "Waiting..." );
 							pos->SetXSpeed( 0.0 );
@@ -616,34 +616,33 @@ class Robot
 		// Get the data
 		//const std::vector<ModelLaser::Sample>& scan = laser->GetSamples();
 
-		const std::vector<ModelRanger::Sensor::Sample>& scan = 
-			laser->GetSensors()[0].samples;
+		const std::vector<meters_t>& scan = laser->GetRanges();
 
     uint32_t sample_count = scan.size();
 
 
 		for (uint32_t i = 0; i < sample_count; i++)
 			{		
-				if( verbose ) printf( "%.3f ", scan[i].range );
+				if( verbose ) printf( "%.3f ", scan[i] );
 
 				if( (i > (sample_count/4)) 
 						&& (i < (sample_count - (sample_count/4))) 
-						&& scan[i].range < minfrontdistance)
+						&& scan[i] < minfrontdistance)
 					{
 						if( verbose ) puts( "  obstruction!" );
 						obstruction = true;
 					}
 
-				if( scan[i].range < stopdist )
+				if( scan[i] < stopdist )
 					{
 						if( verbose ) puts( "  stopping!" );
 						stop = true;
 					}
 
 				if( i > sample_count/2 )
-					minleft = std::min( minleft, scan[i].range );
+					minleft = std::min( minleft, scan[i] );
 				else      
-					minright = std::min( minright, scan[i].range );
+					minright = std::min( minright, scan[i] );
 			}
 
 		if( verbose ) 

diff --git a/examples/ctrl/wander.cc b/examples/ctrl/wander.cc
@@ -54,7 +54,7 @@ extern "C" int Init( Model* mod, CtrlArgs* args )
 int LaserUpdate( Model* mod, robot_t* robot )
 {
   // get the data
-	const std::vector<ModelRanger::Sensor::Sample>& scan = robot->laser->GetSamples();
+	const std::vector<meters_t>& scan = robot->laser->GetRanges();
   uint32_t sample_count = scan.size();
   if( sample_count < 1 )
     return 0;
@@ -70,26 +70,26 @@ int LaserUpdate( Model* mod, robot_t* robot )
   for (uint32_t i = 0; i < sample_count; i++)
     {
 
-		if( verbose ) printf( "%.3f ", scan[i].range );
+		if( verbose ) printf( "%.3f ", scan[i] );
 
       if( (i > (sample_count/3)) 
 			 && (i < (sample_count - (sample_count/3))) 
-			 && scan[i].range < minfrontdistance)
+			 && scan[i] < minfrontdistance)
 		  {
 			 if( verbose ) puts( "  obstruction!" );
 			 obstruction = true;
 		  }
 
-      if( scan[i].range < stopdist )
+      if( scan[i] < stopdist )
 		  {
 			 if( verbose ) puts( "  stopping!" );
 			 stop = true;
 		  }
 
       if( i > sample_count/2 )
-				minleft = std::min( minleft, scan[i].range );
+				minleft = std::min( minleft, scan[i] );
       else      
-				minright = std::min( minright, scan[i].range );
+				minright = std::min( minright, scan[i] );
     }
 
   if( verbose )