[Robotflow-cvs] RobotFlow/Behaviors/src RangeFashion.cc,1.3,1.4

[MagellanPro <mag...@us...>]

Update of /cvsroot/robotflow/RobotFlow/Behaviors/src
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv15437

Modified Files:
	RangeFashion.cc 
Log Message:
- Transform on the laser data


Index: RangeFashion.cc
===================================================================
RCS file: /cvsroot/robotflow/RobotFlow/Behaviors/src/RangeFashion.cc,v
retrieving revision 1.3
retrieving revision 1.4
diff -C2 -d -r1.3 -r1.4
*** RangeFashion.cc	2 Jul 2005 02:12:43 -0000	1.3
--- RangeFashion.cc	2 Jul 2005 04:05:46 -0000	1.4
***************
*** 143,150 ****
                int x_min = (min1+min2+min3)/3;
                
                // Save the value
!               if(((*vectPercept)[ind_vectPercept] == -1) && (x_min < 10000))
!                   (*vectPercept)[ind_vectPercept] = x_min;
!               
                // Next position
                --ind_vectPercept;
--- 143,163 ----
                int x_min = (min1+min2+min3)/3;
                
+ 	      // Transform of the data according to the physical dimension of the robot
+ 	      int offset = 0;
+ 	      switch (ind_vectPercept){
+ 		case 0: offset = 100; break;
+ 		case 1: offset = 150; break;
+ 		case 2: offset = 150; break;
+ 		case 3: offset = 300; break;
+ 		case 9: offset = 300; break;
+ 		case 10: offset = 150; break;
+ 		case 11: offset = 150; break;
+ 	      }
+ 	      
                // Save the value
!               if(((*vectPercept)[ind_vectPercept] == -1) && (x_min < 10000)){	      
!                   (*vectPercept)[ind_vectPercept] = x_min - offset;
! 	      }
! 	      
                // Next position
                --ind_vectPercept;