Revision c63c9752
Scoutsim now has consistent units of m and m/s.
This will cause some problems.
- Behaviors which relied on the old units will have to change. We need to change the Control classes to scale things right.
- Encoder ticks are almost fixed, but not quite right (I think because of a rounding problem).
- Speeds are now all in m/s, which is much different than before - we'll have to change the Control class somehow.
I'm afraid I'm out of time to make the rest of these changes now, but I'll do them ASAP.
| scout/scoutsim/src/scout.h | ||
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| 70 | 70 |
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| 71 | 71 |
#define PI 3.14159265 |
| 72 | 72 |
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| 73 |
/// The scale factor so the speed of scout robots is reasonable for the sim |
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| 74 |
#define SPEED_SCALE_FACTOR 0.05 |
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| 75 |
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| 76 | 73 |
#define NUM_LINESENSORS 8 |
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// Distance, pixels, from center of robot to the linesensors. |
| ... | ... | |
| 135 | 132 |
unsigned char g, |
| 136 | 133 |
unsigned char b); |
| 137 | 134 |
unsigned int trace_sonar(const wxImage& walls_image, int x, int y, |
| 138 |
double robot_theta, int sonar_pos,wxMemoryDC& sonar_dc, bool sonar_on); |
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| 135 |
double robot_theta, int sonar_pos, |
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wxMemoryDC& sonar_dc, bool sonar_on); |
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| 139 | 137 |
void update_sonar(const wxImage& walls_image, int x, int y, |
| 140 | 138 |
double robot_theta, wxMemoryDC& sonar_dc,bool sonar_on); |
| 141 | 139 |
void update_linesensor(const wxImage& lines_image, int x, int y, |
| 142 | 140 |
double theta); |
| 143 |
int old_front_dx;
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int old_front_dy;
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int old_back_dx;
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int old_back_dy;
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bool isFront;
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int old_front_dx;
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int old_front_dy;
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int old_back_dx;
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int old_back_dy;
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bool isFront;
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| 148 | 146 |
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wxBitmap *path_bitmap;
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bool sonar_on;
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wxBitmap *path_bitmap;
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bool sonar_on;
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| 151 | 149 |
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ros::NodeHandle node; |
| 153 | 151 |
|
| ... | ... | |
| 175 | 173 |
int sonar_stop_l; |
| 176 | 174 |
int sonar_stop_r; |
| 177 | 175 |
int sonar_direction; |
| 176 |
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| 178 | 177 |
// The last time the sonar changed its position. |
| 179 | 178 |
ros::Time last_sonar_time; |
| 180 | 179 |
ros::Duration sonar_tick_time; |
| ... | ... | |
| 197 | 196 |
ros::ServiceServer query_linesensor_srv; |
| 198 | 197 |
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| 199 | 198 |
ros::WallTime last_command_time; |
| 200 |
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float meter; |
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| 202 |
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| 203 | 199 |
}; |
| 204 | 200 |
typedef boost::shared_ptr<Scout> ScoutPtr; |
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} |
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#endif |
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