void sonarPrinter(void)
{
double d;
double th;
d = sonar.currentReadingPolar(-45, 45, &th);
printf("front: %5.0fmm ", d);
if (d != sonar.getMaxRange())
printf("%3.0fdeg ", th);
else
printf("???deg ");
d = sonar.currentReadingPolar(-135, -45, &th);
printf(" right: %5.0fmm ", d);
if (d != sonar.getMaxRange())
printf("%3.0fdeg ", th);
else
printf("???deg ");
d = sonar.currentReadingPolar(45, 135, &th);
printf(" left: %5.0fmm ", d);
if (d != sonar.getMaxRange())
printf("%3.0fdeg ", th);
else
printf("???deg ");
d = sonar.currentReadingPolar(135, -135, &th);
printf(" back: %5.0fmm ", d);
if (d != sonar.getMaxRange())
printf("%3.0fdeg ", th);
else
printf("???deg ");
printf("\r");
fflush(stdout);
}
void sonarPrinter(void)
{
fprintf(stdout, "in sonarPrinter()\n"); fflush(stdout);
double scale = (double)half_size / (double)sonar.getMaxRange();
/*
ArSonarDevice *sd;
std::list<ArPoseWithTime *>::iterator it;
std::list<ArPoseWithTime *> *readings;
ArPose *pose;
sd = (ArSonarDevice *)robot->findRangeDevice("sonar");
if (sd != NULL)
{
sd->lockDevice();
readings = sd->getCurrentBuffer();
if (readings != NULL)
{
for (it = readings->begin(); it != readings->end(); ++it)
{
pose = (*it);
//pose->log();
}
}
sd->unlockDevice();
}
*/
double range;
double angle;
/*
* example to show how to find closest readings within polar sections
*/
printf("Closest readings within polar sections:\n");
double start_angle = -45;
double end_angle = 45;
range = sonar.currentReadingPolar(start_angle, end_angle, &angle);
printf(" front quadrant: %5.0f ", range);
//if (range != sonar.getMaxRange())
if (std::fabs(range - sonar.getMaxRange()) > std::numeric_limits<double>::epsilon())
printf("%3.0f ", angle);
printf("\n");
#if defined(VISP_HAVE_X11) || defined (VISP_HAVE_GDI)
//if (isInitialized && range != sonar.getMaxRange())
if (isInitialized && std::fabs(range - sonar.getMaxRange()) > std::numeric_limits<double>::epsilon())
{
double x = range * cos(vpMath::rad(angle)); // position of the obstacle in the sensor frame
double y = range * sin(vpMath::rad(angle));
// Conversion in pixels so that the robot frame is in the middle of the image
double j = -y * scale + half_size; // obstacle position
double i = -x * scale + half_size;
vpDisplay::display(I);
vpDisplay::displayLine(I, half_size, half_size, 0, 0, vpColor::red, 5);
vpDisplay::displayLine(I, half_size, half_size, 0, 2*half_size-1, vpColor::red, 5);
vpDisplay::displayLine(I, half_size, half_size, i, j, vpColor::green, 3);
vpDisplay::displayCross(I, i, j, 7, vpColor::blue);
}
#endif
range = sonar.currentReadingPolar(-135, -45, &angle);
printf(" right quadrant: %5.0f ", range);
//if (range != sonar.getMaxRange())
if (std::fabs(range - sonar.getMaxRange()) > std::numeric_limits<double>::epsilon())
printf("%3.0f ", angle);
printf("\n");
range = sonar.currentReadingPolar(45, 135, &angle);
printf(" left quadrant: %5.0f ", range);
//if (range != sonar.getMaxRange())
if (std::fabs(range - sonar.getMaxRange()) > std::numeric_limits<double>::epsilon())
printf("%3.0f ", angle);
printf("\n");
range = sonar.currentReadingPolar(-135, 135, &angle);
printf(" back quadrant: %5.0f ", range);
//if (range != sonar.getMaxRange())
if (std::fabs(range - sonar.getMaxRange()) > std::numeric_limits<double>::epsilon())
printf("%3.0f ", angle);
printf("\n");
/*
* example to show how get all sonar sensor data
*/
ArSensorReading *reading;
for (int sensor = 0; sensor < robot->getNumSonar(); sensor++)
{
reading = robot->getSonarReading(sensor);
if (reading != NULL)
{
angle = reading->getSensorTh();
range = reading->getRange();
double sx = reading->getSensorX(); // position of the sensor in the robot frame
double sy = reading->getSensorY();
double ox = range * cos(vpMath::rad(angle)); // position of the obstacle in the sensor frame
double oy = range * sin(vpMath::rad(angle));
double x = sx + ox; // position of the obstacle in the robot frame
double y = sy + oy;
// Conversion in pixels so that the robot frame is in the middle of the image
double sj = -sy * scale + half_size; // sensor position
double si = -sx * scale + half_size;
double j = -y * scale + half_size; // obstacle position
double i = -x * scale + half_size;
// printf("%d x: %.1f y: %.1f th: %.1f d: %d\n", sensor, reading->getSensorX(),
// reading->getSensorY(), reading->getSensorTh(), reading->getRange());
#if defined(VISP_HAVE_X11) || defined (VISP_HAVE_GDI)
//if (isInitialized && range != sonar.getMaxRange())
if (isInitialized && std::fabs(range - sonar.getMaxRange()) > std::numeric_limits<double>::epsilon())
{
vpDisplay::displayLine(I, si, sj, i, j, vpColor::blue, 2);
vpDisplay::displayCross(I, si, sj, 7, vpColor::blue);
char legend[15];
sprintf(legend, "%d: %1.2fm", sensor, float(range)/1000);
vpDisplay::displayCharString(I, i-7, j+7, legend, vpColor::blue);
}
#endif
}
}
#if defined(VISP_HAVE_X11) || defined (VISP_HAVE_GDI)
if (isInitialized)
vpDisplay::flush(I);
#endif
fflush(stdout);
}