Revision 6639ce9c
Edited Sonar to display points on simulator.
Changed rate of sonar scan to 0.5s
Made a new wxDC graphics object for sonar
scout/scoutsim/src/scout.h | ||
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109 | 109 |
class Scout |
110 | 110 |
{ |
111 | 111 |
public: |
112 |
Scout(const ros::NodeHandle& nh, const wxImage& scout_image,
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113 |
const Vector2& pos, float orient); |
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112 |
Scout(const ros::NodeHandle& nh,const wxImage& scout_image, |
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113 |
const Vector2& pos, wxBitmap *path_bitmap, float orient);
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114 | 114 |
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115 | 115 |
geometry_msgs::Pose2D update(double dt, wxMemoryDC& path_dc, |
116 |
wxMemoryDC& sonar_dc, |
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116 | 117 |
const wxImage& path_image, |
117 | 118 |
const wxImage& lines_image, |
118 | 119 |
const wxImage& walls_image, |
119 | 120 |
wxColour background_color, |
121 |
wxColour sonar_color, |
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120 | 122 |
world_state state); |
121 | 123 |
void paint(wxDC& dc); |
122 | 124 |
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... | ... | |
132 | 134 |
unsigned char g, |
133 | 135 |
unsigned char b); |
134 | 136 |
unsigned int trace_sonar(const wxImage& walls_image, int x, int y, |
135 |
double robot_theta, int sonar_pos); |
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137 |
double robot_theta, int sonar_pos,wxMemoryDC& sonar_dc);
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136 | 138 |
void update_sonar(const wxImage& walls_image, int x, int y, |
137 |
double robot_theta); |
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139 |
double robot_theta, wxMemoryDC& sonar_dc);
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138 | 140 |
void update_linesensor(const wxImage& lines_image, int x, int y, |
139 | 141 |
double theta); |
142 |
int old_dx; |
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143 |
int old_dy; |
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144 |
wxBitmap *path_bitmap; |
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140 | 145 |
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141 | 146 |
ros::NodeHandle node; |
142 | 147 |
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