void sendInputs() {
averageValues();
//proximity
unsigned short fr = sensorToInput(S_FRONT_RIGHT)*1000;
unsigned short r = sensorToInput(S_RIGHT)*1000;
unsigned short l = sensorToInput(S_LEFT)*1000;
unsigned short fl = sensorToInput(S_FRONT_LEFT)*1000;
resetValues();
transmitShort(SENSORS);
transmitShort(fr);
transmitShort(r);
transmitShort(l);
transmitShort(fl);
}
// 0: coast stop, 1: brake stop, 2: forward(speed), 3: backward(speed), 4: turnRight(speed), 5: turnLeft(speed)
int Sensor::interpretSensors()
{
averageValues();
move = -1;
right_wall = 0;
left_wall = 0;
front_wall = 0;
back_wall = 0;
close_right_wall = 0;
close_left_wall = 0;
close_front_wall = 0;
far_front_wall = 0;
far_back_wall = 0;
// short front
if(avg_dist_short_front > 200) // wall
{
front_wall = 1;
if(avg_dist_short_front > 600)
{
close_front_wall = 1; // close front
move = 3;
}
}
else
{
// far dist sensor
if(avg_dist_long_front > 800) far_front_wall = 1; // far front
}
// short right
if(avg_dist_short_right > 300) // wall
{
right_wall = 1;
if(avg_dist_short_right > 600)
{
close_right_wall = 1; // close right
move = 5;
}
}
// short left
if(avg_dist_short_left > 300) // wall
{
left_wall = 1;
if(avg_dist_short_left > 600)
{
close_left_wall = 1; // close left
move = 4;
}
}
// medium back
if(avg_dist_medium_back > 500) // far wall
{
far_back_wall = 1;
if(avg_dist_medium_back > 1200)
{
back_wall = 1; // back wall
move = 2;
}
}
if(move == -1) move = 2; // no move sugestion, contiue
if(far_front_wall == 1 || far_back_wall == 1) close_wall = 1;
else close_wall = 0;
return move;
}
void SpectralLibraryMatchResults::createAverageSignature()
{
Service<DesktopServices> pDesktop;
const RasterElement* pRaster = getRasterElementForCurrentPage();
if (pRaster == NULL)
{
pDesktop->showMessageBox("Spectral Library Match",
"Unable to determine the RasterElement for the current page.");
return;
}
std::vector<Signature*> signatures = getSelectedSignatures();
if (signatures.empty())
{
pDesktop->showMessageBox("Spectral Library Match",
"No signatures are selected for use in generating an average signature.");
return;
}
// now need to get the resampled sigs from the library
SpectralLibraryManager* pLibMgr(NULL);
std::vector<PlugIn*> plugIns =
Service<PlugInManagerServices>()->getPlugInInstances(SpectralLibraryMatch::getNameLibraryManagerPlugIn());
if (!plugIns.empty())
{
pLibMgr = dynamic_cast<SpectralLibraryManager*>(plugIns.front());
}
if (pLibMgr == NULL)
{
pDesktop->showMessageBox("Spectral Library Match",
"Unable to access the Spectral Library Manager.");
return;
}
const RasterDataDescriptor* pDesc = dynamic_cast<const RasterDataDescriptor*>(pRaster->getDataDescriptor());
if (pDesc == NULL)
{
pDesktop->showMessageBox("Spectral Library Match",
"Unable to access the RasterDataDescriptor for the RasterElement of the current page.");
return;
}
unsigned int numBands = pDesc->getBandCount();
std::vector<double> averageValues(numBands, 0);
std::vector<double> values;
for (std::vector<Signature*>::iterator it = signatures.begin(); it != signatures.end(); ++it)
{
if (pLibMgr->getResampledSignatureValues(pRaster, *it, values) == false)
{
pDesktop->showMessageBox("Spectral Library Match",
"Unable to access the resampled signature values for " + (*it)->getDisplayName(true));
return;
}
for (unsigned int band = 0; band < numBands; ++band)
{
averageValues[band] += values[band];
}
}
unsigned int numSigs = signatures.size();
for (unsigned int band = 0; band < numBands; ++band)
{
averageValues[band] /= static_cast<double>(numSigs);
}
QString avgName = QInputDialog::getText(pDesktop->getMainWidget(), "Spectral Library Match",
"Enter the name to use for the average signature:");
if (avgName.isEmpty())
{
return;
}
ModelResource<Signature> pAvgSig(avgName.toStdString(), const_cast<RasterElement*>(pRaster));
pAvgSig->setData("Reflectance", averageValues);
const DynamicObject* pMetaData = pRaster->getMetadata();
FactoryResource<Wavelengths> pWavelengths;
pWavelengths->initializeFromDynamicObject(pMetaData, false);
const std::vector<double>& centerValues = pWavelengths->getCenterValues();
pAvgSig->setData("Wavelength", centerValues);
SignatureDataDescriptor* pSigDesc = dynamic_cast<SignatureDataDescriptor*>(pAvgSig->getDataDescriptor());
VERIFYNRV(pSigDesc != NULL);
FactoryResource<Units> pUnits;
const Units* pRasterUnits = pDesc->getUnits();
pUnits->setUnitName(pRasterUnits->getUnitName());
pUnits->setUnitType(pRasterUnits->getUnitType());
pUnits->setScaleFromStandard(1.0); // the rescaled values are already corrected for the original scaling factor
pUnits->setRangeMin(pRasterUnits->getRangeMin());
pUnits->setRangeMax(pRasterUnits->getRangeMax());
pSigDesc->setUnits("Reflectance", pUnits.get());
pAvgSig.release();
}
