Re: [Orca-robotics-users] RangeScanner2d vs LaserScanner2d

[Alex M. <al...@ca...>]

Hi Kamil,

Ice interfaces can derive (inherit) from each other. The pair you are
asking about is an example of such relationship.
Take a look at the interface definition in
orca/src/interfaces/slice/orca/laserscanner2d.ice :

// slice
interface LaserScanner2d extends RangeScanner2d

('extends' is the Slice keyword for inheritance.)

The interface itself is the same but the data object
LaserScanner2dData adds intensities to the basic RangeScanner2dData
which only has ranges for a set of bearings.

LocalNav requires a RangeScanner2d interface, i.e. it can work with
any range-bearing device, whether it provides intensities or not.

On your 2nd question, there's no MCL library (or component) in Orca.
If you write one you may want to consider submitting it, it would
definitely be useful.

Alex


On Thu, Aug 13, 2009 at 6:08 PM, kamil ducheckev<kdr...@gm...> wrote:
> Hello!
>
> I am trying to find out if there is any difference between the
> "RangeScanner2d" and "LaserScanner2d" interfaces. I want to run the
> "LocalNav" component and the documentation says that it requires a
> RangeScanner2d interface but in the example cfg file is connected to a
> laser2d. Are those interfaces the same one?
>
> And by the chance, has somebody implemented a Monte Carlo Localizer
> component implemented for Orca?
>
> Thanks in advance.
>
> Kamil
>
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