## playerstage-users

 [Playerstage-users] Using Goto and GetXPos/GetYPos From: JazzaGazza - 2009-05-08 12:37:25 ```Hi, I'm attempting to write a simple algorithm as follows for simulation 1) Reset Odometry 2) Use a 180 degree laser scanner to select a co-ordinate point in the robots scan area using GetXPos(x), GetYPos(x). 3) Use Goto and VFH/ND to go to near this point. I've however come into some problems. The GetXPos and GetYPos calls will often get a point that is not the expected point, and it is often even out of the world boundaries. An unexpected point happens after the robot has moved around, it's always fine when starting. I suspect it is something to do with the co-ordinate system changing as the robot rotates? Any help is appreciated. Cheers -- View this message in context: http://www.nabble.com/Using-Goto-and-GetXPos-GetYPos-tp23445171p23445171.html Sent from the playerstage-users mailing list archive at Nabble.com. ```
 Re: [Playerstage-users] Using Goto and GetXPos/GetYPos From: Toby Collett - 2009-05-13 12:53:02 Attachments: Message as HTML ```GetXPos and GetYPos will get the position of the laser scan in robot relative coodinates, not in global cooridinates. You will need to transform this yourself. 2009/5/8 JazzaGazza > > Hi, > > I'm attempting to write a simple algorithm as follows for simulation > > 1) Reset Odometry > 2) Use a 180 degree laser scanner to select a co-ordinate point in the > robots scan area using GetXPos(x), GetYPos(x). > 3) Use Goto and VFH/ND to go to near this point. > > I've however come into some problems. The GetXPos and GetYPos calls will > often get a point that is not the expected point, and it is often even out > of the world boundaries. An unexpected point happens after the robot has > moved around, it's always fine when starting. > > I suspect it is something to do with the co-ordinate system changing as the > robot rotates? > Any help is appreciated. > > Cheers > -- > View this message in context: > http://www.nabble.com/Using-Goto-and-GetXPos-GetYPos-tp23445171p23445171.html > Sent from the playerstage-users mailing list archive at Nabble.com. > > > > ------------------------------------------------------------------------------ > The NEW KODAK i700 Series Scanners deliver under ANY circumstances! Your > production scanning environment may not be a perfect world - but thanks to > Kodak, there's a perfect scanner to get the job done! With the NEW KODAK > i700 > Series Scanner you'll get full speed at 300 dpi even with all image > processing features enabled. http://p.sf.net/sfu/kodak-com > _______________________________________________ > Playerstage-users mailing list > Playerstage-users@... > https://lists.sourceforge.net/lists/listinfo/playerstage-users > -- This email is intended for the addressee only and may contain privileged and/or confidential information ```