Re: [Java-player-users] geometry

[Radu B. R. <ve...@in...>]

On Mon, May 02, 2005 at 09:31:58AM -0500, Matthew Johnson wrote:
> Thanks, I'll update to 1.6.2d and try it. 

Sounds great. Btw, I just released 1.6.2e.

> 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.

I still do not really understand what you are trying to achieve. The
geometry of a sonar sensor is already defined in the .inc/.cfg files, if
we're talking about a simulated robot. On a real robot, the implemented
driver might have that information stored. In both cases,
sonar.queryGeometry() followed by isPGSTReady and getPGST (btw, I think
there's a small bug , the name of the method is getPLCT instead of getPGST,
and it should be isPSGTReady instead of isPGSTReady - I'll fix both of them
in the CVS and 1.6.3) should give you what you need.

My head is spinning, guess I'm just tired from the plane. :) If you can,
please explain again (in more words) what are you trying to do exactly and
I'm sure that we can eventually find a solution for it. :)

Cheers,
Radu.

> 
> 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.