GGraph::GGraph(const GBitmap* ref, float scale, float rotation,int mode){
//cout << "@@@_____scale="<<scale<<endl;
if (this != ref){
pack_flag=0;
if(scale!=0&&rotation!=0){
rotateFast(ref,scale,rotation);
return;
}
if(scale!=0&&mode==0){
scaleFast(ref,scale);
return;
}
if(scale!=0&&mode==1){
bicubicScale(ref,scale);
return;
}
if(rotation!=0){
rotateFast(ref,1,rotation);
return;
}
init(ref);
}
}//_____________________________________________________________________________
// Spin for the number of cycles specified
void spin(int cycles){
// Infrastructure
ros::Rate loop_rate(loopRate);
ros::NodeHandle n;
geometry_msgs::Twist RobotNode_cmdvel;
ros::Publisher RobotNode_stage_pub = n.advertise<geometry_msgs::Twist>("robot_11/cmd_vel",1000);
rotateFast(); // start spinning
int counter = 0;
while (counter < cycles) {
counter++;
// Infrastructure
RobotNode_cmdvel.linear.x = linear_x;
RobotNode_cmdvel.angular.z = angular_z;
RobotNode_stage_pub.publish(RobotNode_cmdvel);
setOrientation();
ros::spinOnce();
loop_rate.sleep();
}
stopRotation(); // stop spinning
}
