Revision ade1b7f9
| ID | ade1b7f9e6aee15cde7890ca6330f9cd57e118b5 |
Basic line sensor readings!
| scout/scoutsim/src/sim_frame.cpp | ||
|---|---|---|
| 92 | 92 |
/// @todo This should change. |
| 93 | 93 |
meter = scout_images[0].GetHeight(); |
| 94 | 94 |
|
| 95 |
base_map_name = map_name; |
|
| 96 |
display_map_name = ros::package::getPath("scoutsim") + "/maps/" + map_name + ".bmp";
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| 95 |
map_base_name = ros::package::getPath("scoutsim") + "/maps/" +
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| 96 |
map_name + ".bmp"; |
|
| 97 |
map_lines_name = ros::package::getPath("scoutsim") + "/maps/" +
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| 98 |
map_name + "_lines.bmp"; |
|
| 99 |
display_map_name = map_base_name; |
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| 100 |
|
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| 101 |
wxBitmap lines_bitmap; |
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| 102 |
lines_bitmap.LoadFile(wxString::FromAscii(map_lines_name.c_str())); |
|
| 103 |
lines_image = lines_bitmap.ConvertToImage(); |
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| 104 |
|
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| 97 | 105 |
clear(); |
| 98 | 106 |
|
| 99 | 107 |
clear_srv = nh.advertiseService("clear",
|
| ... | ... | |
| 227 | 235 |
|
| 228 | 236 |
void SimFrame::showMap(wxCommandEvent& WXUNUSED(event)) |
| 229 | 237 |
{
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| 230 |
display_map_name = ros::package::getPath("scoutsim") + "/maps/" +
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base_map_name + ".bmp"; |
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| 238 |
display_map_name = map_base_name; |
|
| 232 | 239 |
clear(); |
| 233 | 240 |
} |
| 234 | 241 |
|
| 235 | 242 |
void SimFrame::showLines(wxCommandEvent& WXUNUSED(event)) |
| 236 | 243 |
{
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| 237 |
display_map_name = ros::package::getPath("scoutsim") + "/maps/" +
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| 238 |
base_map_name + "_lines.bmp"; |
|
| 244 |
display_map_name = map_lines_name; |
|
| 239 | 245 |
clear(); |
| 240 | 246 |
} |
| 241 | 247 |
|
| ... | ... | |
| 298 | 304 |
|
| 299 | 305 |
for (; it != end; ++it) |
| 300 | 306 |
{
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it->second->update(0.016, path_dc, path_image, |
|
| 307 |
it->second->update(0.016, path_dc, path_image, lines_image,
|
|
| 302 | 308 |
path_dc.GetBackground().GetColour(), |
| 303 | 309 |
state); |
| 304 | 310 |
} |
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