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Revision 18800d29

ID18800d293d2603935c68cbe12c7564acfd99d82e
Parent a224a762
Child 794038c2

Added by Yuyang Guo about 10 years ago

added BOM emitter crappy (but working) visualization

View differences:

scout/scoutsim/src/emitter.cpp
35 35 
          , aperture(aperture)
36 36 
          , distance(distance)
37 37 
          , pen_on(true)
38 
          , emitter_visual_on(true)
38 39 
          , pen(wxColour(DEFAULT_PEN_R, DEFAULT_PEN_G, DEFAULT_PEN_B))
39 40 
    {
40 41 
        pen.SetWidth(3);
......
120 121 
            emitter = wxBitmap(rotated_image);
121 122 
        }
122 123 

  		




  
  124
  
    
        if (emitter_visual_on) {


  		




  
  125
  
    
            path_dc.SelectObject(*path_bitmap);


  		




  
  126
  
    
            path_dc.SetBrush(*wxGREEN_BRUSH);


  		




  
  127
  
    
            path_dc.DrawLine(


  		




  
  128
  
    
                pos.x * PIX_PER_METER,


  		




  
  129
  
    
                pos.y * PIX_PER_METER,


  		




  
  130
  
    
                (pos.x+cos(orient-BOM_APERTURE)*BOM_DISTANCE)*PIX_PER_METER,


  		




  
  131
  
    
                (pos.y-sin(orient-BOM_APERTURE)*BOM_DISTANCE)*PIX_PER_METER);


  		




  
  132
  
    
            path_dc.DrawLine(


  		




  
  133
  
    
                pos.x * PIX_PER_METER,


  		




  
  134
  
    
                pos.y * PIX_PER_METER,


  		




  
  135
  
    
                (pos.x+cos(orient+BOM_APERTURE)*BOM_DISTANCE)*PIX_PER_METER,


  		




  
  136
  
    
                (pos.y-sin(orient+BOM_APERTURE)*BOM_DISTANCE)*PIX_PER_METER);


  		




  
  137
  
    

  		




  
  138
  
    

  		




  
  139
  
    
            path_dc.DrawCircle(


  		




  
  140
  
    
                wxPoint((pos.x+cos(orient-BOM_APERTURE)*BOM_DISTANCE)*PIX_PER_METER,


  		




  
  141
  
    
                        (pos.y-sin(orient-BOM_APERTURE)*BOM_DISTANCE)*PIX_PER_METER)


  		




  
  142
  
    
                ,2);


  		




  
  143
  
    
            path_dc.DrawCircle(


  		




  
  144
  
    
                wxPoint((pos.x+cos(orient+BOM_APERTURE)*BOM_DISTANCE)*PIX_PER_METER,


  		




  
  145
  
    
                        (pos.y-sin(orient+BOM_APERTURE)*BOM_DISTANCE)*PIX_PER_METER)


  		




  
  146
  
    
              ,2);


  		




  
  147
  
    
        }


  		




  
  148
  
    

  		




  123
  149
  
    
        geometry_msgs::Pose2D my_pose;


  		




  124
  150
  
    
        my_pose.x = pos.x;


  		




  125
  151
  
    
        my_pose.y = pos.y;


  		












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