Revision b9e59a3c scout/libscout/src/test_behaviors/smart_runaround.cpp
scout/libscout/src/test_behaviors/smart_runaround.cpp  

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spinOnce(); 
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// Assumption: readings are given in millimeters  Zane 
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<<<<<<< HEAD 

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// matrices for going from robot's frame to base frame 

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float rightMat[2][2] = {{0, 1}, {1, 0}}; 

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float downMat[2][2] = {{1, 0}, {0, 1}}; 

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float leftMat[2][2] = {{0, 1}, {1, 0}}; 

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// Look to the left (and update map). 

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float left_distance = readings[0]; // w.r.t. robot 

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if(left_distance == 0) 

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return false; 

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int left_idx = mm_to_idx(left_distance); // w.r.t. map 

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// plot to map if indices are valid 

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if (0 <= left_idx && left_idx < MAP_LENGTH) 

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map[row][col+left_idx] = SEEN; 

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// Look in the other directions (and update map). 

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for (int i = 24; i < 48; i++) { 

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float distance = readings[i]; // w.r.t. robot 

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if(distance == 0) 

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return false; 

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if(distance >= 500) 

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break; // too far to be accurate 

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float theta = (M_PI/24)*i  M_PI; 

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float xDist = distance*cos(theta); // w.r.t. robot 

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float yDist = distance*sin(theta); // w.r.t. robot 

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float inputs[2] = {xDist, yDist}; 

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float *ans; 

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// reorient x and y distances based on direction 

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switch(dir) { 

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case UP: 

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ans[0] = xDist; 

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ans[1] = yDist; 

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break; 

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case RIGHT: 

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ans = matrix_mult(inputs, rightMat); 

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break; 

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case DOWN: 

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ans = matrix_mult(inputs, downMat); 

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break; 

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case LEFT: 

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ans = matrix_mult(inputs, leftMat); 

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break; 

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} 

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// indices into the map 

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int pixDistX = row + mm_to_idx(ans[0]); 

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int pixDistY = col + mm_to_idx(ans[1]); 

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// plot to map if indices are valid 

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if (0 <= pixDistX && pixDistX < MAP_LENGTH 

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&& 0 <= pixDistY && pixDistY < MAP_LENGTH) 

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map[pixDistX][pixDistY] = SEEN; 

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======= 

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// distances with respect to robot, NOT map 
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// Look to the left. 
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float left_distance = readings[0]/1000.0; 
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int left_idx = m_to_idx(left_distance); 

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int left_idx = mm_to_idx(left_distance);


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// Look to the front. 
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float front_distance = readings[36]/1000.0; 
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int front_idx = m_to_idx(front_distance); 

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int front_idx = mm_to_idx(front_distance);


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// Look to the right. 
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float right_distance = readings[24]/1000.0; 
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int right_idx = m_to_idx(right_distance); 

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int right_idx = mm_to_idx(right_distance);


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ROS_INFO("front: %lf left: %lf right: %lf", 
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front_distance, left_distance, right_distance); 
...  ...  
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break; 
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} 
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map[row][coll] = SEEN; 
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>>>>>>> dbbad8ed5cba08f5500e7d333beab2d089f9956c 

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} 
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return true; 
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} 
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