Revision ddfeb111 scout/scoutsim/src/ghost_scout.cpp

View differences:

scout/scoutsim/src/ghost_scout.cpp
76 76

  
77 77
  void GhostScout::setPosition(const ::messages::ScoutPosition& msg)
78 78
  {
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    ROS_INFO("UPDATING GHOST SCOUT POSITION");
80

  
81 79
    pos.x = start_x + msg.x;
82 80
    pos.y = start_y - msg.y;
83 81
    orient = msg.theta;
......
104 102
      world_state state)
105 103
  {
106 104

  
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    wxImage rotated_image = scout_image.Rotate(orient - M_PI/2.0,
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        wxPoint(scout_image.GetWidth() / 2,
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          scout_image.GetHeight() / 2),
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        false);
109

  
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    for (int y = 0; y < rotated_image.GetHeight(); ++y)
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    {
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      for (int x = 0; x < rotated_image.GetWidth(); ++x)
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      {
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        if (rotated_image.GetRed(x, y) == 255
115
            && rotated_image.GetBlue(x, y) == 255
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            && rotated_image.GetGreen(x, y) == 255)
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        {
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          rotated_image.SetAlpha(x, y, 0);
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        }
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        else
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        {
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          rotated_image.SetAlpha(x, y, 125);
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        }
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      }
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    }
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    scout = wxBitmap(rotated_image);
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107 129
    geometry_msgs::Pose2D my_pose;
108 130
    my_pose.x = pos.x;
109 131
    my_pose.y = pos.y;
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    my_pose.theta = orient;
111 133

  
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    //ROS_INFO("Ghost scout is at position %f  %f  %f", pos.x, pos.y, orient);
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    ROS_INFO("Scout position %f  %f  %f", pos.x, pos.y, orient);
113 135

  
114 136
    return my_pose;
115 137
  }

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