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/sim_frame.cpp | ||
|---|---|---|
| 217 | 217 |
|
| 218 | 218 |
ScoutPtr t(new Scout(ros::NodeHandle(real_name), |
| 219 | 219 |
scout_images[rand() % SCOUTSIM_NUM_SCOUTS], |
| 220 |
Vector2(x, y), angle)); |
|
| 220 |
Vector2(x, y), &path_bitmap,angle));
|
|
| 221 | 221 |
scouts[real_name] = t; |
| 222 | 222 |
|
| 223 | 223 |
ROS_INFO("Spawning scout [%s] at x=[%f], y=[%f], theta=[%f]",
|
| ... | ... | |
| 269 | 269 |
path_dc.SetBackground(wxBrush(wxColour(100, 100, 100))); |
| 270 | 270 |
path_dc.Clear(); |
| 271 | 271 |
|
| 272 |
sonar_dc.SetBackground(wxBrush(wxColour(255, 0, 0))); |
|
| 273 |
sonar_dc.Clear(); |
|
| 274 |
|
|
| 275 |
sonar_dc.SelectObject(path_bitmap); |
|
| 276 |
|
|
| 272 | 277 |
path_bitmap.LoadFile(wxString::FromAscii(display_map_name.c_str())); |
| 273 | 278 |
path_dc.SelectObject(path_bitmap); |
| 274 | 279 |
SetSize(wxSize(path_bitmap.GetWidth(), path_bitmap.GetHeight())); |
| ... | ... | |
| 323 | 328 |
|
| 324 | 329 |
for (; it != end; ++it) |
| 325 | 330 |
{
|
| 326 |
it->second->update(0.016, path_dc, |
|
| 331 |
it->second->update(0.016, path_dc,sonar_dc,
|
|
| 327 | 332 |
path_image, lines_image, walls_image, |
| 328 | 333 |
path_dc.GetBackground().GetColour(), |
| 334 |
sonar_dc.GetBackground().GetColour(), |
|
| 329 | 335 |
state); |
| 330 | 336 |
} |
| 331 | 337 |
|
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