Revision 43811241 scout/scoutsim/src/scout.cpp

View differences:

scout/scoutsim/src/scout.cpp
63 63
                 wxBitmap *path_bitmap,
64 64
                 float orient)
65 65
        : path_bitmap(path_bitmap)
66
      , sonar_visual_on(sonar_visual_on)
67
      , node (nh)
66
          , sonar_visual_on(false)
67
          , node (nh)
68 68
          , scout_image(scout_image)
69 69
          , pos(pos)
70 70
          , orient(orient)
......
312 312
            }
313 313

  
314 314
            sonar_dc.SetBrush(*wxGREEN_BRUSH);  //newest value
315
            sonar_dc.DrawCircle( wxPoint(d_x,d_y), 2);
316
            if (isFront) //for some reason isFront = (!isFront) is not working
315
            sonar_dc.DrawCircle(wxPoint(d_x,d_y), 2);
316
            if (isFront) // @todo for some reason isFront = (!isFront) is not working
317 317
            {
318 318
                isFront = FALSE;
319 319
            }
......
321 321
            {
322 322
                isFront = TRUE; 
323 323
            }
324
                
325 324
        }
326 325

  
327 326
        return d;
......
339 338
        last_sonar_time = ros::Time::now();
340 339

  
341 340
        unsigned int d_front = trace_sonar(walls_image, x, y, robot_theta,
342
                                           sonar_position,sonar_dc);
341
                                           sonar_position, sonar_dc);
343 342
        unsigned int d_back = trace_sonar(walls_image, x, y, robot_theta,
344
                                          sonar_position + 24,sonar_dc);
343
                                          sonar_position + 24, sonar_dc);
345 344

  
346 345
        // Publish
347 346
        sonar::sonar_distance msg;
......
393 392
    /// TODO remove dt param
394 393
    geometry_msgs::Pose2D Scout::update(double dt, wxMemoryDC& path_dc,
395 394
                                        wxMemoryDC& sonar_dc,
396
                                        bool sonar_visual, 
397 395
                                        const wxImage& path_image,
398 396
                                        const wxImage& lines_image,
399 397
                                        const wxImage& walls_image,
......
401 399
                                        wxColour sonar_color,
402 400
                                        world_state state)
403 401
    {
404
        sonar_visual_on = sonar_visual;
405

  
406 402
        // Assume that the two motors on the same side will be set to
407 403
        // roughly the same speed. Does not account for slip conditions
408 404
        // when they are set to different speeds.
......
483 479
                         p.theta,sonar_dc);
484 480

  
485 481
        }
482

  
486 483
        // Figure out (and publish) the color underneath the scout
487 484
        {
488 485
            //wxSize scout_size = wxSize(scout.GetWidth(), scout.GetHeight());
......
521 518
        dc.DrawBitmap(scout, pos.x * PIX_PER_METER - (scout_size.GetWidth() / 2),
522 519
                      pos.y * PIX_PER_METER - (scout_size.GetHeight() / 2), true);
523 520
    }
521

  
522
    void Scout::set_sonar_visual(bool on)
523
    {
524
        /// @todo Remove
525
        ROS_INFO("Sonar visual on set.");
526
        sonar_visual_on = on;
527
    }
524 528
}

Also available in: Unified diff