Revision 6639ce9c
ID | 6639ce9c5b5ca4644e9f66e71b7d79bc24cf4fb0 |
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 | ||
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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 |
{ |
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it->second->update(0.016, path_dc, |
|
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it->second->update(0.016, path_dc,sonar_dc,
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|
327 | 332 |
path_image, lines_image, walls_image, |
328 | 333 |
path_dc.GetBackground().GetColour(), |
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sonar_dc.GetBackground().GetColour(), |
|
329 | 335 |
state); |
330 | 336 |
} |
331 | 337 |
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