[Playerstage-commit] code/player/server/drivers/laser laserposeinterpolator.cc, 1.12, 1.12.2.1

[Brian G. <ge...@us...>]

Update of /cvsroot/playerstage/code/player/server/drivers/laser
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv29463/server/drivers/laser

Modified Files:
      Tag: release-2-0-patches
	laserposeinterpolator.cc 
Log Message:
improved docs

Index: laserposeinterpolator.cc
===================================================================
RCS file: /cvsroot/playerstage/code/player/server/drivers/laser/laserposeinterpolator.cc,v
retrieving revision 1.12
retrieving revision 1.12.2.1
diff -C2 -d -r1.12 -r1.12.2.1
*** laserposeinterpolator.cc	16 Nov 2005 00:56:01 -0000	1.12
--- laserposeinterpolator.cc	3 Oct 2006 00:13:41 -0000	1.12.2.1
***************
*** 37,53 ****
  @par Provides
  
! - @ref interface_laser
  
  @par Requires
  
! - @ref interface_laser
! - @ref interface_position2d
  
  @par Configuration requests
  
! - None (yet)
    
  @par Configuration file options
  
        
  @par Example 
--- 37,76 ----
  @par Provides
  
! - @ref interface_laser : Pose-stamped laser scans (subtype 
! PLAYER_LASER_DATA_SCANPOSE) are published via this interface
  
  @par Requires
  
! - @ref interface_laser : Raw laser scans (subtype PLAYER_LASER_DATA_SCAN) are read from this device
! - @ref interface_position2d : Pose data (subtype PLAYER_POSITION2D_DATA_STATE) is read from this device
  
  @par Configuration requests
  
! - All configuration are forwarded to the underlying @ref interface_laser device for handling.
    
  @par Configuration file options
  
+ - interpolate (integer)
+   - Default: 1
+   - Linearly interpolate between poses for each scan (1), or just attach the 
+     most recent pose to each scan (0).
+ - max_scans (integer)
+   - Default: 100
+   - Maximum number of scans to buffer while waiting for a second pose in order 
+     to interpolate.
+ - update_thresh ([length angle] tuple)
+   - Default: [-1.0 -1.0]
+   - Minimum change in pose (translation or rotation) required before
+     a new laser scan will be published.  Use this option to choke the data rate.
+     Set either value to -1.0 to indicate that no threshold should be applied in 
+     that dimension (i.e., every scan should be published).
+ - update_interval (float, seconds)
+   - Default: -1.0
+   - Interval after which a new scan will be published, regardless of how far
+     the robot has moved.  Set to -1.0 to disable this threshold.
+ - send_all_scans (integer)
+   - Default: 1
+   - Whether to stamp and publish every laser scan.  If set to 1, this option 
+     overrides update_thresh and update_interval.
        
  @par Example