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Revision 6639ce9c

ID6639ce9c5b5ca4644e9f66e71b7d79bc24cf4fb0

Added by viki over 11 years ago

Edited Sonar to display points on simulator.

Changed rate of sonar scan to 0.5s
Made a new wxDC graphics object for sonar

View differences:

scout/scoutsim/src/scout.h
109 109 
    class Scout
110 110 
    {
111 111 
        public:
112 
            Scout(const ros::NodeHandle& nh, const wxImage& scout_image,
113 
                  const Vector2& pos, float orient);
112 
            Scout(const ros::NodeHandle& nh,const wxImage& scout_image,
113 
                  const Vector2& pos, wxBitmap *path_bitmap, float orient);
114 114 

  		




  115
  115
  
    
            geometry_msgs::Pose2D update(double dt, wxMemoryDC& path_dc,


  		




  
  116
  
    
					wxMemoryDC& sonar_dc,


  		




  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,


  		




  120
  122
  
    
                                         world_state state);


  		




  121
  123
  
    
            void paint(wxDC& dc);


  		




  122
  124
  
    

  		




  ......




  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);


  		




  
  137
  
    
                                     double robot_theta, int sonar_pos,wxMemoryDC& sonar_dc);


  		




  136
  138
  
    
            void update_sonar(const wxImage& walls_image, int x, int y,


  		




  137
  
  
    
                              double robot_theta);


  		




  
  139
  
    
                              double robot_theta, wxMemoryDC& sonar_dc);


  		




  138
  140
  
    
            void update_linesensor(const wxImage& lines_image, int x, int y,


  		




  139
  141
  
    
                                   double theta);


  		




  
  142
  
    
	    int old_dx;


  		




  
  143
  
    
	    int old_dy;


  		




  
  144
  
    
	    wxBitmap *path_bitmap;


  		




  140
  145
  
    

  		




  141
  146
  
    
            ros::NodeHandle node;


  		




  142
  147
  
    

  		












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