scoutos / scout / scoutsim / src / scout.cpp @ 6257c97d
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1 | c492be62 | Alex Zirbel | /**
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2 | * The code in this package was developed using the structure of Willow
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3 | * Garage's turtlesim package. It was modified by the CMU Robotics Club
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4 | * to be used as a simulator for the Colony Scout robot.
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5 | 266ae7f2 | Alex Zirbel | *
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6 | c492be62 | Alex Zirbel | * All redistribution of this code is limited to the terms of Willow Garage's
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7 | * licensing terms, as well as under permission from the CMU Robotics Club.
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8 | *
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9 | * Copyright (c) 2011 Colony Project
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10 | *
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11 | * Permission is hereby granted, free of charge, to any person
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12 | * obtaining a copy of this software and associated documentation
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13 | * files (the "Software"), to deal in the Software without
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14 | * restriction, including without limitation the rights to use,
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15 | * copy, modify, merge, publish, distribute, sublicense, and/or sell
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16 | * copies of the Software, and to permit persons to whom the
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17 | * Software is furnished to do so, subject to the following
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18 | * conditions:
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19 | *
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20 | * The above copyright notice and this permission notice shall be
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21 | * included in all copies or substantial portions of the Software.
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22 | *
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23 | * Copyright (c) 2009, Willow Garage, Inc.
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24 | 266ae7f2 | Alex Zirbel | * All rights reserved.
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25 | c492be62 | Alex Zirbel | *
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26 | * Redistribution and use in source and binary forms, with or without
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27 | * modification, are permitted provided that the following conditions are met:
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28 | *
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29 | * Redistributions of source code must retain the above copyright
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30 | * notice, this list of conditions and the following disclaimer.
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31 | * Redistributions in binary form must reproduce the above copyright
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32 | * notice, this list of conditions and the following disclaimer in the
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33 | * documentation and/or other materials provided with the distribution.
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34 | * Neither the name of the Willow Garage, Inc. nor the names of its
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35 | * contributors may be used to endorse or promote products derived from
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36 | * this software without specific prior written permission.
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37 | *
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38 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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39 | * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
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40 | * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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41 | * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
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42 | * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
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43 | * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
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44 | * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
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45 | * OTHER DEALINGS IN THE SOFTWARE.
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46 | 266ae7f2 | Alex Zirbel | */
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47 | |||
48 | a8480867 | Alex Zirbel | #include "scout.h" |
49 | 266ae7f2 | Alex Zirbel | |
50 | #include <wx/wx.h> |
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51 | |||
52 | #define DEFAULT_PEN_R 0xb3 |
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53 | #define DEFAULT_PEN_G 0xb8 |
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54 | #define DEFAULT_PEN_B 0xff |
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55 | |||
56 | af0d9743 | Alex | using namespace std; |
57 | |||
58 | 266ae7f2 | Alex Zirbel | namespace scoutsim
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59 | { |
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60 | Scout::Scout(const ros::NodeHandle& nh,
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61 | 9f547ef7 | Alex Zirbel | const wxImage& scout_image,
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62 | const Vector2& pos,
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63 | 6639ce9c | viki | wxBitmap *path_bitmap, |
64 | 9f547ef7 | Alex Zirbel | float orient)
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65 | 6639ce9c | viki | : path_bitmap(path_bitmap) |
66 | 68b23184 | viki | , sonar_on(sonar_on) |
67 | 6639ce9c | viki | , node (nh) |
68 | 144137a1 | Alex Zirbel | , scout_image(scout_image) |
69 | , pos(pos) |
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70 | , orient(orient) |
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71 | 9f547ef7 | Alex Zirbel | , motor_fl_speed(0)
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72 | , motor_fr_speed(0)
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73 | , motor_bl_speed(0)
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74 | , motor_br_speed(0)
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75 | , fl_ticks(0)
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76 | , fr_ticks(0)
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77 | , bl_ticks(0)
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78 | , br_ticks(0)
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79 | 144137a1 | Alex Zirbel | , pen_on(true)
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80 | , pen(wxColour(DEFAULT_PEN_R, DEFAULT_PEN_G, DEFAULT_PEN_B)) |
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81 | 266ae7f2 | Alex Zirbel | { |
82 | 144137a1 | Alex Zirbel | pen.SetWidth(3);
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83 | scout = wxBitmap(scout_image); |
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84 | |||
85 | motors_sub = node.subscribe("set_motors", 1, &Scout::setMotors, this); |
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86 | |||
87 | pose_pub = node.advertise<Pose>("pose", 1); |
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88 | color_pub = node.advertise<Color>("color_sensor", 1); |
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89 | a2e6bd4c | Alex | sonar_pub = node.advertise<sonar::sonar_distance>("sonar_distance", 1); |
90 | 144137a1 | Alex Zirbel | set_pen_srv = node.advertiseService("set_pen",
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91 | 266ae7f2 | Alex Zirbel | &Scout::setPenCallback, |
92 | this);
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93 | 9f547ef7 | Alex Zirbel | query_encoders_srv = |
94 | node.advertiseService("query_encoders",
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95 | &Scout::query_encoders_callback, |
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96 | this);
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97 | 266ae7f2 | Alex Zirbel | |
98 | af0d9743 | Alex | query_linesensor_srv = |
99 | node.advertiseService("query_linesensor",
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100 | &Scout::query_linesensor_callback, |
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101 | this);
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102 | |||
103 | ade1b7f9 | Alex | for (unsigned int i = 0; i < NUM_LINESENSORS; i++) |
104 | { |
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105 | linesensor_readings.push_back(0);
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106 | } |
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107 | |||
108 | a2e6bd4c | Alex | // Initialize sonar
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109 | sonar_position = 0;
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110 | sonar_stop_l = 0;
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111 | sonar_stop_r = 23;
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112 | sonar_direction = 1;
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113 | sonar_tick_time = ros::Duration(scoutsim::SONAR_HALF_SPIN_TIME / 24.0); |
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114 | 266ae7f2 | Alex Zirbel | } |
115 | |||
116 | 6257c97d | Alex | float Scout::absolute_to_mps(int absolute_speed) |
117 | { |
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118 | return ((float) absolute_speed) * MAX_SPEED_MPS / MAX_ABSOLUTE_SPEED; |
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119 | } |
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120 | |||
121 | a8480867 | Alex Zirbel | /**
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122 | * A callback function that sets velocity based on a set_motors
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123 | * request.
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124 | c492be62 | Alex Zirbel | * @todo Use "callback" in all callback function names? Or remove?
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125 | a8480867 | Alex Zirbel | */
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126 | void Scout::setMotors(const motors::set_motors::ConstPtr& msg) |
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127 | { |
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128 | 144137a1 | Alex Zirbel | last_command_time = ros::WallTime::now(); |
129 | a8480867 | Alex Zirbel | |
130 | if(msg->fl_set)
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131 | { |
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132 | 6257c97d | Alex | motor_fl_speed = absolute_to_mps(msg->fl_speed); |
133 | a8480867 | Alex Zirbel | } |
134 | if(msg->fr_set)
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135 | { |
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136 | 6257c97d | Alex | motor_fr_speed = absolute_to_mps(msg->fr_speed); |
137 | a8480867 | Alex Zirbel | } |
138 | if(msg->bl_set)
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139 | { |
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140 | 6257c97d | Alex | motor_bl_speed = absolute_to_mps(msg->bl_speed); |
141 | a8480867 | Alex Zirbel | } |
142 | if(msg->br_set)
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143 | { |
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144 | 6257c97d | Alex | motor_br_speed = absolute_to_mps(msg->br_speed); |
145 | a8480867 | Alex Zirbel | } |
146 | 266ae7f2 | Alex Zirbel | } |
147 | |||
148 | bool Scout::setPenCallback(scoutsim::SetPen::Request& req,
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149 | scoutsim::SetPen::Response&) |
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150 | { |
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151 | 144137a1 | Alex Zirbel | pen_on = !req.off; |
152 | 266ae7f2 | Alex Zirbel | if (req.off)
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153 | { |
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154 | return true; |
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155 | } |
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156 | |||
157 | wxPen pen(wxColour(req.r, req.g, req.b)); |
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158 | if (req.width != 0) |
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159 | { |
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160 | pen.SetWidth(req.width); |
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161 | } |
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162 | |||
163 | 144137a1 | Alex Zirbel | pen = pen; |
164 | 266ae7f2 | Alex Zirbel | return true; |
165 | } |
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166 | |||
167 | 9f547ef7 | Alex Zirbel | bool Scout::query_encoders_callback(encoders::query_encoders::Request&,
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168 | encoders::query_encoders::Response& res) |
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169 | { |
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170 | res.fl_distance = fl_ticks; |
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171 | res.fr_distance = fr_ticks; |
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172 | res.bl_distance = bl_ticks; |
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173 | res.br_distance = br_ticks; |
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174 | |||
175 | return true; |
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176 | } |
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177 | |||
178 | af0d9743 | Alex | bool Scout::query_linesensor_callback(linesensor::query_linesensor::Request&,
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179 | linesensor::query_linesensor::Response& res) |
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180 | { |
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181 | ade1b7f9 | Alex | res.readings = linesensor_readings; |
182 | |||
183 | return true; |
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184 | } |
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185 | af0d9743 | Alex | |
186 | ade1b7f9 | Alex | // Scale to linesensor value
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187 | a2e6bd4c | Alex | unsigned int Scout::rgb_to_grey(unsigned char r, |
188 | unsigned char g, |
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189 | unsigned char b) |
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190 | ade1b7f9 | Alex | { |
191 | // Should be 0 to 255
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192 | unsigned int grey = ((unsigned int) r + (unsigned int) g + (unsigned int) b) / 3; |
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193 | |||
194 | /// @todo Convert to the proper range
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195 | return 255 - grey; |
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196 | } |
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197 | |||
198 | a2e6bd4c | Alex | unsigned int Scout::trace_sonar(const wxImage& walls_image, int x, int y, |
199 | c63c9752 | Alex | double robot_theta, int sonar_pos, |
200 | wxMemoryDC& sonar_dc, bool sonar_on)
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201 | a2e6bd4c | Alex | { |
202 | 71e1154d | Alex | double angle = robot_theta + (PI * ((float) sonar_pos) / 24.0) - PI / 2; |
203 | a2e6bd4c | Alex | unsigned int d = 0; |
204 | |||
205 | unsigned int reading = 0; |
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206 | c63c9752 | Alex | int d_x = 0; |
207 | int d_y = 0; |
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208 | |||
209 | a2e6bd4c | Alex | do
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210 | { |
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211 | 6639ce9c | viki | d_x = x + (int) floor(d * cos(angle));
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212 | d_y = y + (int) floor(d * sin(angle));
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213 | a2e6bd4c | Alex | |
214 | // Out of image boundary
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215 | if (d_x < 0 || d_x >= walls_image.GetWidth() || |
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216 | d_y < 0 || d_y >= walls_image.GetHeight())
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217 | { |
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218 | return d;
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219 | } |
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220 | |||
221 | // Max range
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222 | if (d > scoutsim::SONAR_MAX_RANGE)
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223 | { |
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224 | return d;
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225 | } |
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226 | |||
227 | // Get the sonar reading at the current position of the sonar
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228 | unsigned char r = walls_image.GetRed(d_x, d_y); |
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229 | unsigned char g = walls_image.GetGreen(d_x, d_y); |
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230 | unsigned char b = walls_image.GetBlue(d_x, d_y); |
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231 | 6639ce9c | viki | |
232 | a2e6bd4c | Alex | reading = rgb_to_grey(r, g, b); |
233 | 6639ce9c | viki | |
234 | a2e6bd4c | Alex | |
235 | d++; |
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236 | } |
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237 | 71e1154d | Alex | /// @todo Consider using different cutoffs for different features
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238 | while (reading < 128); /// @todo Get rid of hardcoded stuff like this |
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239 | 6639ce9c | viki | |
240 | c63c9752 | Alex | if(sonar_on)
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241 | { |
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242 | if(isFront)
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243 | { |
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244 | // draw a circle at the wall_x, wall_y where reading > 128
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245 | sonar_dc.SelectObject(*path_bitmap); |
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246 | sonar_dc.SetBrush(*wxRED_BRUSH); //old value
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247 | sonar_dc.DrawCircle(wxPoint(old_front_dx,old_front_dy), 2);
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248 | old_front_dx = d_x; |
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249 | old_front_dy = d_y; |
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250 | } |
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251 | else
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252 | { |
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253 | // draw a circle at the wall_x, wall_y where reading > 128
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254 | sonar_dc.SelectObject(*path_bitmap); |
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255 | sonar_dc.SetBrush(*wxRED_BRUSH); //old value
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256 | sonar_dc.DrawCircle(wxPoint(old_back_dx,old_back_dy), 2);
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257 | old_back_dx = d_x; |
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258 | old_back_dy = d_y; |
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259 | } |
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260 | |||
261 | sonar_dc.SetBrush(*wxGREEN_BRUSH); //newest value
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262 | sonar_dc.DrawCircle( wxPoint(d_x,d_y), 2);
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263 | if (isFront) //for some reason isFront = (!isFront) is not working |
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264 | { |
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265 | isFront = FALSE; |
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266 | } |
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267 | else
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268 | { |
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269 | isFront = TRUE; |
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270 | } |
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271 | |||
272 | } |
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273 | a2e6bd4c | Alex | return d;
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274 | } |
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275 | |||
276 | 71e1154d | Alex | // x and y is current position of the sonar
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277 | a2e6bd4c | Alex | void Scout::update_sonar(const wxImage& walls_image, int x, int y, |
278 | 68b23184 | viki | double robot_theta,wxMemoryDC& sonar_dc, bool sonar_on) |
279 | a2e6bd4c | Alex | { |
280 | // Only rotate the sonar at the correct rate.
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281 | if (ros::Time::now() - last_sonar_time < sonar_tick_time)
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282 | { |
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283 | return;
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284 | } |
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285 | last_sonar_time = ros::Time::now(); |
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286 | |||
287 | unsigned int d_front = trace_sonar(walls_image, x, y, robot_theta, |
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288 | 68b23184 | viki | sonar_position,sonar_dc, sonar_on); |
289 | a2e6bd4c | Alex | unsigned int d_back = trace_sonar(walls_image, x, y, robot_theta, |
290 | 68b23184 | viki | sonar_position + 24,sonar_dc, sonar_on);
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291 | a2e6bd4c | Alex | |
292 | // Publish
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293 | sonar::sonar_distance msg; |
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294 | msg.pos = sonar_position; |
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295 | msg.distance0 = d_front; |
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296 | msg.distance1 = d_back; |
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297 | |||
298 | sonar_pub.publish(msg); |
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299 | |||
300 | // Update the sonar rotation
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301 | if (sonar_position + sonar_direction <= sonar_stop_r &&
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302 | sonar_position + sonar_direction >= sonar_stop_l) |
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303 | { |
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304 | sonar_position = sonar_position + sonar_direction; |
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305 | } |
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306 | else
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307 | { |
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308 | sonar_direction = -sonar_direction; |
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309 | } |
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310 | } |
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311 | |||
312 | void Scout::update_linesensor(const wxImage& lines_image, int x, int y, |
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313 | double robot_theta)
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314 | ade1b7f9 | Alex | { |
315 | linesensor_readings.clear(); |
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316 | |||
317 | double spacing = scout_image.GetWidth() / (NUM_LINESENSORS - 1); |
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318 | for (int s = 0; s < NUM_LINESENSORS; s++) |
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319 | af0d9743 | Alex | { |
320 | ade1b7f9 | Alex | double offset = -(scout_image.GetWidth() / 2) + s * spacing; |
321 | af0d9743 | Alex | |
322 | a2e6bd4c | Alex | int sensor_x = (int) (x - LNSNSR_D * cos(robot_theta) - |
323 | offset * sin(robot_theta)); |
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324 | int sensor_y = (int) (y + LNSNSR_D * sin(robot_theta) - |
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325 | offset * cos(robot_theta)); |
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326 | af0d9743 | Alex | |
327 | ade1b7f9 | Alex | unsigned char r = lines_image.GetRed(sensor_x, sensor_y); |
328 | unsigned char g = lines_image.GetGreen(sensor_x, sensor_y); |
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329 | unsigned char b = lines_image.GetBlue(sensor_x, sensor_y); |
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330 | |||
331 | a2e6bd4c | Alex | unsigned int reading = rgb_to_grey(r, g, b); |
332 | ade1b7f9 | Alex | |
333 | linesensor_readings.push_back(reading); |
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334 | } |
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335 | af0d9743 | Alex | } |
336 | |||
337 | 9b3564f3 | Alex Zirbel | /// Sends back the position of this scout so scoutsim can save
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338 | /// the world state
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339 | geometry_msgs::Pose2D Scout::update(double dt, wxMemoryDC& path_dc,
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340 | c63c9752 | Alex | wxMemoryDC& sonar_dc, |
341 | bool sonar_on,
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342 | 9b3564f3 | Alex Zirbel | const wxImage& path_image,
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343 | ade1b7f9 | Alex | const wxImage& lines_image,
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344 | a2e6bd4c | Alex | const wxImage& walls_image,
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345 | 9b3564f3 | Alex Zirbel | wxColour background_color, |
346 | c63c9752 | Alex | wxColour sonar_color, |
347 | 9b3564f3 | Alex Zirbel | world_state state) |
348 | 266ae7f2 | Alex Zirbel | { |
349 | 9f547ef7 | Alex Zirbel | // Assume that the two motors on the same side will be set to
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350 | // roughly the same speed. Does not account for slip conditions
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351 | // when they are set to different speeds.
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352 | float l_speed = (float (motor_fl_speed + motor_bl_speed)) / 2; |
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353 | float r_speed = (float (motor_fr_speed + motor_br_speed)) / 2; |
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354 | |||
355 | c63c9752 | Alex | // Find linear and angular movement in m
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356 | float lin_dist = SCOUTSIM_REFRESH_RATE * (l_speed + r_speed) / 2; |
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357 | float ang_dist = SCOUTSIM_REFRESH_RATE * (r_speed - l_speed);
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358 | 9f547ef7 | Alex Zirbel | |
359 | 144137a1 | Alex Zirbel | Vector2 old_pos = pos; |
360 | 266ae7f2 | Alex Zirbel | |
361 | 9f547ef7 | Alex Zirbel | // Update encoders
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362 | c63c9752 | Alex | fl_ticks += (unsigned int) (motor_fl_speed * SCOUTSIM_REFRESH_RATE * |
363 | ENCODER_TICKS_PER_METER); |
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364 | fr_ticks += (unsigned int) (motor_fr_speed * SCOUTSIM_REFRESH_RATE * |
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365 | ENCODER_TICKS_PER_METER); |
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366 | bl_ticks += (unsigned int) (motor_bl_speed * SCOUTSIM_REFRESH_RATE * |
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367 | ENCODER_TICKS_PER_METER); |
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368 | br_ticks += (unsigned int) (motor_br_speed * SCOUTSIM_REFRESH_RATE * |
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369 | ENCODER_TICKS_PER_METER); |
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370 | |||
371 | orient = fmod((float) (orient + ang_dist), (float) (2.0 * PI)); |
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372 | 9f547ef7 | Alex Zirbel | |
373 | c63c9752 | Alex | // Multiply by dt, the time passed (SCOUTSIM_REFRESH_RATE)
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374 | pos.x += sin(orient + PI/2.0) * lin_dist; |
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375 | pos.y += cos(orient + PI/2.0) * lin_dist; |
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376 | 266ae7f2 | Alex Zirbel | |
377 | // Clamp to screen size
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378 | e3f69e61 | Alex | if (pos.x < 0 || pos.x >= state.canvas_width |
379 | || pos.y < 0 || pos.y >= state.canvas_height)
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380 | 266ae7f2 | Alex Zirbel | { |
381 | c63c9752 | Alex | ROS_WARN("I hit the wall! (Clamping from [x=%f, y=%f])", pos.x, pos.y);
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382 | 266ae7f2 | Alex Zirbel | } |
383 | |||
384 | af0d9743 | Alex | pos.x = min(max(pos.x, 0.0f), state.canvas_width); |
385 | pos.y = min(max(pos.y, 0.0f), state.canvas_height); |
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386 | 266ae7f2 | Alex Zirbel | |
387 | c63c9752 | Alex | int canvas_x = pos.x * PIX_PER_METER;
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388 | int canvas_y = pos.y * PIX_PER_METER;
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389 | 266ae7f2 | Alex Zirbel | |
390 | { |
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391 | wxImage rotated_image = |
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392 | 144137a1 | Alex Zirbel | scout_image.Rotate(orient - PI/2.0, |
393 | wxPoint(scout_image.GetWidth() / 2,
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394 | ade1b7f9 | Alex | scout_image.GetHeight() / 2),
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395 | 5e2c3dc1 | Alex | false);
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396 | 266ae7f2 | Alex Zirbel | |
397 | for (int y = 0; y < rotated_image.GetHeight(); ++y) |
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398 | { |
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399 | for (int x = 0; x < rotated_image.GetWidth(); ++x) |
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400 | { |
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401 | if (rotated_image.GetRed(x, y) == 255 |
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402 | && rotated_image.GetBlue(x, y) == 255
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403 | && rotated_image.GetGreen(x, y) == 255)
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404 | { |
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405 | rotated_image.SetAlpha(x, y, 0);
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406 | } |
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407 | } |
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408 | } |
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409 | |||
410 | 144137a1 | Alex Zirbel | scout = wxBitmap(rotated_image); |
411 | 266ae7f2 | Alex Zirbel | } |
412 | |||
413 | Pose p; |
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414 | 144137a1 | Alex Zirbel | p.x = pos.x; |
415 | e3f69e61 | Alex | p.y = state.canvas_height - pos.y; |
416 | 144137a1 | Alex Zirbel | p.theta = orient; |
417 | c63c9752 | Alex | p.linear_velocity = l_speed; |
418 | p.angular_velocity = r_speed; |
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419 | 144137a1 | Alex Zirbel | pose_pub.publish(p); |
420 | 266ae7f2 | Alex Zirbel | |
421 | ade1b7f9 | Alex | update_linesensor(lines_image, canvas_x, canvas_y, p.theta); |
422 | a2e6bd4c | Alex | update_sonar(walls_image, |
423 | canvas_x + scoutsim::SCOUT_SONAR_X, |
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424 | canvas_y + scoutsim::SCOUT_SONAR_Y, |
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425 | 68b23184 | viki | p.theta,sonar_dc,sonar_on); |
426 | ade1b7f9 | Alex | |
427 | 266ae7f2 | Alex Zirbel | // Figure out (and publish) the color underneath the scout
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428 | { |
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429 | 23b8119f | Alex | //wxSize scout_size = wxSize(scout.GetWidth(), scout.GetHeight());
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430 | 266ae7f2 | Alex Zirbel | Color color; |
431 | color.r = path_image.GetRed(canvas_x, canvas_y); |
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432 | color.g = path_image.GetGreen(canvas_x, canvas_y); |
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433 | color.b = path_image.GetBlue(canvas_x, canvas_y); |
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434 | 144137a1 | Alex Zirbel | color_pub.publish(color); |
435 | 266ae7f2 | Alex Zirbel | } |
436 | |||
437 | ROS_DEBUG("[%s]: pos_x: %f pos_y: %f theta: %f",
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438 | 144137a1 | Alex Zirbel | node.getNamespace().c_str(), pos.x, pos.y, orient); |
439 | 266ae7f2 | Alex Zirbel | |
440 | 144137a1 | Alex Zirbel | if (pen_on)
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441 | 266ae7f2 | Alex Zirbel | { |
442 | 144137a1 | Alex Zirbel | if (pos != old_pos)
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443 | 266ae7f2 | Alex Zirbel | { |
444 | 6639ce9c | viki | path_dc.SelectObject(*path_bitmap); |
445 | 144137a1 | Alex Zirbel | path_dc.SetPen(pen); |
446 | c63c9752 | Alex | path_dc.DrawLine(pos.x * PIX_PER_METER, pos.y * PIX_PER_METER, |
447 | old_pos.x * PIX_PER_METER, old_pos.y * PIX_PER_METER); |
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448 | 266ae7f2 | Alex Zirbel | } |
449 | } |
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450 | e3f69e61 | Alex | |
451 | geometry_msgs::Pose2D my_pose; |
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452 | my_pose.x = pos.x; |
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453 | my_pose.y = pos.y; |
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454 | my_pose.theta = orient; |
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455 | |||
456 | return my_pose;
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457 | 266ae7f2 | Alex Zirbel | } |
458 | |||
459 | void Scout::paint(wxDC& dc)
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460 | { |
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461 | 144137a1 | Alex Zirbel | wxSize scout_size = wxSize(scout.GetWidth(), scout.GetHeight()); |
462 | c63c9752 | Alex | dc.DrawBitmap(scout, pos.x * PIX_PER_METER - (scout_size.GetWidth() / 2),
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463 | pos.y * PIX_PER_METER - (scout_size.GetHeight() / 2), true); |
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464 | 266ae7f2 | Alex Zirbel | } |
465 | } |