C++ (Cpp) urg_distance_min_max Examples

Example #1

File: get_distance.c Project: MichiganTechRoboticsLab/SensorDataCollector

static void print_data(urg_t *urg, long data[], int data_n, long time_stamp)
{
#if 1
    int front_index;

    (void)data_n;

    front_index = urg_step2index(urg, 0);
    printf("%ld [mm], (%ld [msec])\n", data[front_index], time_stamp);

#else
    (void)time_stamp;

    int i;
    long min_distance;
    long max_distance;

    urg_distance_min_max(urg, &min_distance, &max_distance);
    for (i = 0; i < data_n; ++i) {
        long l = data[i];
        double radian;
        long x;
        long y;

        if ((l <= min_distance) || (l >= max_distance)) {
            continue;
        }
        radian = urg_index2rad(urg, i);
        x = (long)(l * cos(radian));
        y = (long)(l * sin(radian));
        printf("(%ld, %ld), ", x, y);
    }
    printf("\n");
#endif
}

Example #2

File: calculate_xy.c Project: ANW180/Pidar

int main(int argc, char *argv[])
{
    urg_t urg;
    long *data;
    long max_distance;
    long min_distance;
    long time_stamp;
    int i;
    int n;

    if (open_urg_sensor(&urg, argc, argv) < 0) {
        return 1;
    }

    data = (long *)malloc(urg_max_data_size(&urg) * sizeof(data[0]));
    if (!data) {
        perror("urg_max_index()");
        return 1;
    }

    // \~japanese データ取得
    urg_start_measurement(&urg, URG_DISTANCE, 1, 0);
    n = urg_get_distance(&urg, data, &time_stamp);
    if (n < 0) {
        printf("urg_get_distance: %s\n", urg_error(&urg));
        urg_close(&urg);
        return 1;
    }

    // \~japanese X-Y 座標系の値を出力
    urg_distance_min_max(&urg, &min_distance, &max_distance);
    for (i = 0; i < n; ++i) {
        long distance = data[i];
        double radian;
        long x;
        long y;

        if ((distance < min_distance) || (distance > max_distance)) {
            continue;
        }

        radian = urg_index2rad(&urg, i);
        x = (long)(distance * cos(radian));
        y = (long)(distance * sin(radian));

        printf("%ld, %ld\n", x, y);
    }
    printf("\n");

    // \~japanese 切断
    free(data);
    urg_close(&urg);

#if defined(URG_MSC)
    getchar();
#endif
    return 0;
}

Example #3

File: get_distance.c Project: andreig1089/proiect_SLAM

static void print_data(urg_t *urg, long data[], int data_n, long time_stamp)
{
#if 1
    int front_index;

    (void)data_n;

    // \~japanese 前方のデータのみを表示
    front_index = urg_step2index(urg, 0);
    printf("%ld [mm], (%ld [msec])\n", data[front_index], time_stamp);

#else
    (void)time_stamp;

    int i;
    long min_distance;
    long max_distance;
    
    //open .txt file an write data into it
    //FILE *fp;
    //char ch;
    //fp=fopen("result.txt","w");
    // \~japanese 全てのデータの X-Y の位置を表示
    urg_distance_min_max(urg, &min_distance, &max_distance);
    for (i = 0; i < data_n; ++i) {
        long l = data[i];
        double radian;
        long x;
        long y;

        if ((l <= min_distance) || (l >= max_distance)) {
            continue;
        }
        radian = urg_index2rad(urg, i);
	printf("%5.5f,%ld\n", radian/**180/3.141565*/, l+20);
	//putc(radian*180/3.141565,fp);
	//putc(l,fp);
        //x = (long)(l * cos(radian));
        //y = (long)(l * sin(radian));
	//printf("(%ld, %ld), ", x, y);
    }
    //fclose(fp);
    printf("\n");
#endif
}