[Robotflow-cvs] RobotFlow/Sensors/src RangeFashion.cc,1.1,1.2

[Fernyqc <fe...@us...>]

Update of /cvsroot/robotflow/RobotFlow/Sensors/src
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv18036/Sensors/src

Modified Files:
	RangeFashion.cc 
Log Message:
Refactoring to start the belt at 0 degree;
Deactivate the IR and Sonar support

Index: RangeFashion.cc
===================================================================
RCS file: /cvsroot/robotflow/RobotFlow/Sensors/src/RangeFashion.cc,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** RangeFashion.cc	27 Oct 2005 18:02:18 -0000	1.1
--- RangeFashion.cc	12 Dec 2005 18:20:23 -0000	1.2
***************
*** 104,108 ****
        // Priority #1 
        // IRs
!       if(!irValue->isNil()){
            Vector<int> &irReading = object_cast<Vector<int> >(getInput(irID,count));
            
--- 104,108 ----
        // Priority #1 
        // IRs
!       /*if(!irValue->isNil()){
            Vector<int> &irReading = object_cast<Vector<int> >(getInput(irID,count));
            
***************
*** 115,119 ****
  	      ++i;
            }		
!       }
  
        /*Vector<int>::iterator iterA;
--- 115,119 ----
  	      ++i;
            }		
!       }*/
  
        /*Vector<int>::iterator iterA;
***************
*** 126,136 ****
        // Priority #2
        // Lasers
!       if(!laserValue->isNil()){
            Vector<int> &laserReading = object_cast<Vector<int> >(getInput(laserID,count));
            
!           int ind_vectPercept = 3;
            
            // For each position in the range of the laser
!           for(int i=0; i<7; ++i){
                // Determine the range for the position
                int begin = 60 * i - 10;
--- 126,138 ----
        // Priority #2
        // Lasers
!       if(!laserValue->isNil())
!       {
            Vector<int> &laserReading = object_cast<Vector<int> >(getInput(laserID,count));
            
!           int ind_vectPercept = 0;
            
            // For each position in the range of the laser
!           for(int i=0; i<7; ++i)
!           {
                // Determine the range for the position
                int begin = 60 * i - 10;
***************
*** 142,155 ****
                int min1=m_maxDistLaser, min2=m_maxDistLaser, min3=m_maxDistLaser;
                for(int j=begin; j<end; ++j){
!                   if(laserReading[j] <= min1){
                        min3 = min2;
                        min2 = min1;
                        min1 = laserReading[j];
                    }
!                   else if(laserReading[j] <= min2){
                        min3 = min2;
                        min2 = laserReading[j];
                    }
!                   else if(laserReading[j] <= min3){
                        min3 = laserReading[j];
                    }
--- 144,160 ----
                int min1=m_maxDistLaser, min2=m_maxDistLaser, min3=m_maxDistLaser;
                for(int j=begin; j<end; ++j){
!                   if(laserReading[j] <= min1)
!                   {
                        min3 = min2;
                        min2 = min1;
                        min1 = laserReading[j];
                    }
!                   else if(laserReading[j] <= min2)
!                   {
                        min3 = min2;
                        min2 = laserReading[j];
                    }
!                   else if(laserReading[j] <= min3)
!                   {
                        min3 = laserReading[j];
                    }
***************
*** 159,183 ****
                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 = 200; 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 < m_maxDistLaser)){	      
!              (*vectPercept)[ind_vectPercept] = x_min - offset;
! 	  }
  	      
!           // Next position
!           --ind_vectPercept;
!           if(ind_vectPercept<0)
!              ind_vectPercept = 11;
            }
        }
--- 164,183 ----
                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 = 200; 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)[i] == -1) && (x_min < m_maxDistLaser)){	      
!                 (*vectPercept)[i] = x_min - offset;
!              }
            }
        }
***************
*** 191,195 ****
        // Priority #3
        // Sonars
!       if(!sonarValue->isNil()){
            Vector<int> &sonarReading = object_cast<Vector<int> >(getInput(sonarID,count));
            
--- 191,195 ----
        // Priority #3
        // Sonars
!       /*if(!sonarValue->isNil()){
            Vector<int> &sonarReading = object_cast<Vector<int> >(getInput(sonarID,count));
            
***************
*** 202,206 ****
                ++i;
            }		
!       }
          
        /*std::cout << "Sonar -> ";
--- 202,206 ----
                ++i;
            }		
!       }*/
          
        /*std::cout << "Sonar -> ";