RE: [Java-player-users] geometry

[Matthew J. <mjo...@ih...>]

Thanks, I'll update to 1.6.2d and try it. 

I am trying to obtain the (X,Y) position of a sonar contact based on the
geometry of the sensor and the range in order to map out objects in the
environment.  I did not see this functionality in the current Player
sonar interface or java client, but stop me if it already exists.

Matt

-----Original Message-----
From: jav...@li...
[mailto:jav...@li...] On Behalf Of Radu
Bogdan Rusu
Sent: Sunday, May 01, 2005 3:56 AM
To: jav...@li...
Subject: Re: [Java-player-users] geometry


On Fri, Apr 29, 2005 at 09:46:14AM -0500, Matthew Johnson wrote:
> I am using your JavaClient 1.6.2a for Player 1.6.2 with a Pioneer in
> gazebo 0.5.1.  I can get the ranges, but not the geometry.  There is a
> queryGeometry method, but when I handle the response, it is always
zero.
> Has this worked for anybody?  If so, what am I missing?

Hello Matt,

Sorry for replying so late. I'm away in a short vacation in Germany, so
reading mails has to go to level 2 priority. :)

About your problem... In order to get the sonar geometry you should
query it
first with queryGeometry (), then check in a loop if the geometry has
been
read from the Player server using isPGSTReady (). If isPGSTReady returns
true you should be able to get it using getPLCT () as a PlayerSonarGeomT
object (don't forget to import javaclient.structures.* !).

That said, it would be best to upgrade to JavaClient 1.6.2d, since I'm
fixing bugs on a daily basis nowadays. The CVS has been left behind, but
I
will upgrade it as soon as I get back to the campus, sometime at the end
of
next week.

Cheers,
Radu.

> 
>  
> 
> Matt
> 

-- 

Yours sincerely,
Radu Bogdan Rusu
--
| Radu Bogdan 'veedee' Rusu | http://www.rbrusu.com
| PhD student/teaching assistant
| Robotics Research Group, Technical University of Cluj-Napoca[.ro]
| The optimist sees a task in every problem.
| The pessimist sees a problem in every task.


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