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#505 Enhancement to fiducial finder so it can detect short robots
Apply to v8327.
Adds a new flag to the fiducial finder, ignore_fiducial_zloc.
By default this is turned off and the fiducial finder works as it always has.
The default behaviour of the fiducial finder results in a short robot being undetectable by the fiducial finder on a taller robot. This is because the ray traced out from the taller robot passes over top of the shorter robot.
With the ignore_fiducial_zloc option set to 1, a taller robot will now detect a shorter robot. This is accomplished by adjusting the code so that a hit is detected even if the fiducial is lower than the finder's ray.
I've also included a sample world file; the patch has the info in it, but it didn't seem to apply for me. I've attached it as well.
Apply to 8327,
Example world file, should the patch not create it.
The changes have been made in SVN trunk.
Thank you for your contribution.
added this functionality in rev 8564, using raytrace()'s zloc-ignoring flag. changed the keyword to ignore_zloc for brevity. Thanks for the good idea.