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

[Victor B. L. T. <vi...@us...>]

Update of /cvsroot/robotflow/RobotFlow/Sensors/src
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv28280/src

Modified Files:
	RangeFashionGeneric.cc 
Log Message:
Change the Vector< Vector<float> > to Vector< Vector< OjectRef > > for the input


Index: RangeFashionGeneric.cc
===================================================================
RCS file: /cvsroot/robotflow/RobotFlow/Sensors/src/RangeFashionGeneric.cc,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** RangeFashionGeneric.cc	20 Jan 2006 22:00:56 -0000	1.1
--- RangeFashionGeneric.cc	24 Jan 2006 20:20:16 -0000	1.2
***************
*** 112,124 ****
     
                 for (int i = 0; i < genericVector.vsize(); i++){
!                   Vector<float> &obstacleInfo = object_cast<Vector<float> >(genericVector[i]);
!                   if (obstacleInfo[0] < m_maxDist){
!                      if ( obstacleInfo[1] < (rangeBelt/2) || obstacleInfo[1] > (3600 - (rangeBelt/2)) ){
!                         if ((*vectPercept)[0] == -1 || (int)obstacleInfo[0] < (*vectPercept)[0])
!                         (*vectPercept)[0] = (int)obstacleInfo[0];
                       }
                       else{
!                         int index = ((int)((obstacleInfo[1] - rangeBelt) / m_beltNbr)) + 1;
!                         (*vectPercept)[index] = (int)obstacleInfo[0];
                       }
                    }
--- 112,131 ----
     
                 for (int i = 0; i < genericVector.vsize(); i++){
!                   cerr << "rangeBelt: " << rangeBelt << endl;
!                   Vector<ObjectRef> &obstacleInfo = object_cast<Vector<ObjectRef> >(genericVector[i]);
!                   float distance = dereference_cast<float>(obstacleInfo[0]);
!                   float angle = dereference_cast<float>(obstacleInfo[1]);
!                   if (distance < m_maxDist){
!                      cerr << "Distance: " << distance << endl;
!                      cerr << "Distance: " << angle << endl;
!                      if ( angle < (rangeBelt/2) || angle > (3600 - (rangeBelt/2)) ){
!                         if ((*vectPercept)[0] == -1 || (int)distance < (*vectPercept)[0])
!                         (*vectPercept)[0] = (int)distance;
                       }
                       else{
!                         int index = ((int)((angle - (rangeBelt/2)) / rangeBelt)) + 1;
!                         cerr << "Index: " << index << endl;
!                         if ((*vectPercept)[index] == -1 || (int)distance < (*vectPercept)[index])
!                            (*vectPercept)[index] = (int)distance;
                       }
                    }
***************
*** 126,129 ****
--- 133,141 ----
              }
              break;
+      };
+      
+      for(Vector<int>::iterator iterPercept = vectPercept->begin(); iterPercept != vectPercept->end(); ++iterPercept) {
+          if(*iterPercept < 0)  
+             *iterPercept = m_maxDist;
       }