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;
}
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