Re: [Playerstage-users] laser proxy data

[Brandon S. <si...@sp...>]

Sohaib,

The playerc_laser_t struct contains a lot of useful information
including the number of scans returned by the laser, the range and
bearing of each scan, the scan as x,y points instead, the pose of the
laser with respect to the robot (can be used to interpolate scans), and
much more data. 

It can be used in the following manner:

playerc_laser_t laser_data;
laser_data = laser->scan();

for(int i = 0; i < laser_data.scan_count; i++)
{
  fprintf(stderr, "The range and bearing for scan number %d is %f meters
at %f degrees with x,y point <%f, %f>.\n\r",
                   i,
                   laser_data.scan[i][0],
                   laser_data.scan[i][1] * 180.0/M_PI,
                   laser_data.point[i].px,
                   laser_data.point[i].py
         );

}

Hope that helps.

-Brandon



On Thu, 2008-02-28 at 14:55 -0600, Nick Johnson wrote:
> I guess I'm trying to learn how to write code for player/stage in c and 
> this seemed like a simple thing to do, but I can't figure out what 
> laser->scan returns. It looks like a multidimensional array but what do 
> those values mean? Just a little explanation about how the 
> playerc_laser_t data structure is and what it returns and such will be 
> helpful.
> 
> also, how do i get more than 1 robot on the stage world and how do I get 
> each different robot to do different things using the same .c file?
> 
> Thanks!
> 
> Sohaib Rashid wrote:
> > hey nick,
> >  
> > what do u mean by finding the range of the laser at different points 
> > to avoid obstacles?
> > the laserobstacleavoid does this for you. I ran it last night. Both 
> > the rangeobstacleavoid and
> > laserobstacleavoid worked fine. The robot took a change of direction 
> > when it came too close
> > to a wall or an obstacle.
> >  
> > Are you trying to customize the laserobstacleavoid code for some 
> > specific task?
> >
> >
> >  
> > On Thu, Feb 28, 2008 at 12:35 PM, Nick Johnson <joh...@um... 
> > <mailto:joh...@um...>> wrote:
> >
> >     I'm having trouble understanding what the data in the laser proxy data
> >     structure means and how to access it. What I want to do is be able to
> >     find the range of the laser at different points on the robot so as to
> >     avoid obstacles and such. I got it working with the sonar proxy but I
> >     can't figure out the laser proxy. I have looked at the
> >     laseravoidobstacles.cc that came with player but that's not helping me
> >     much. Any help is appreciated, thanks!
> >
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