AREXPORT void ArLaserReflectorDevice::processReadings(void) { //int i; ArSensorReading *reading; myLaser->lockDevice(); lockDevice(); const std::list<ArSensorReading *> *rawReadings; std::list<ArSensorReading *>::const_iterator rawIt; rawReadings = myLaser->getRawReadings(); myCurrentBuffer.beginRedoBuffer(); if (myReflectanceThreshold < 0 || myReflectanceThreshold > 255) myReflectanceThreshold = 0; if (rawReadings->begin() != rawReadings->end()) { for (rawIt = rawReadings->begin(); rawIt != rawReadings->end(); rawIt++) { reading = (*rawIt); if (!reading->getIgnoreThisReading() && reading->getExtraInt() > myReflectanceThreshold) myCurrentBuffer.redoReading(reading->getPose().getX(), reading->getPose().getY()); } } myCurrentBuffer.endRedoBuffer(); unlockDevice(); myLaser->unlockDevice(); }
void ArLaserFilter::processReadings(void) { myLaser->lockDevice(); selfLockDevice(); const std::list<ArSensorReading *> *rdRawReadings; std::list<ArSensorReading *>::const_iterator rdIt; if ((rdRawReadings = myLaser->getRawReadings()) == NULL) { selfUnlockDevice(); myLaser->unlockDevice(); return; } size_t rawSize = myRawReadings->size(); size_t rdRawSize = myLaser->getRawReadings()->size(); while (rawSize < rdRawSize) { myRawReadings->push_back(new ArSensorReading); rawSize++; } // set where the pose was taken myCurrentBuffer.setPoseTaken( myLaser->getCurrentRangeBuffer()->getPoseTaken()); myCurrentBuffer.setEncoderPoseTaken( myLaser->getCurrentRangeBuffer()->getEncoderPoseTaken()); std::list<ArSensorReading *>::iterator it; ArSensorReading *rdReading; ArSensorReading *reading; #ifdef DEBUGRANGEFILTER FILE *file = NULL; file = ArUtil::fopen("/mnt/rdsys/tmp/filter", "w"); #endif std::map<int, ArSensorReading *> readingMap; int numReadings = 0; // first pass to copy the readings and put them into a map for (rdIt = rdRawReadings->begin(), it = myRawReadings->begin(); rdIt != rdRawReadings->end() && it != myRawReadings->end(); rdIt++, it++) { rdReading = (*rdIt); reading = (*it); *reading = *rdReading; readingMap[numReadings] = reading; numReadings++; } char buf[1024]; int i; int j; ArSensorReading *lastAddedReading = NULL; // now walk through the readings to filter them for (i = 0; i < numReadings; i++) { reading = readingMap[i]; // if we're ignoring this reading then just get on with life if (reading->getIgnoreThisReading()) continue; if (myMaxRange >= 0 && reading->getRange() > myMaxRange) { reading->setIgnoreThisReading(true); continue; } if (lastAddedReading != NULL) { if (lastAddedReading->getPose().findDistanceTo(reading->getPose()) < 50) { #ifdef DEBUGRANGEFILTER if (file != NULL) fprintf(file, "%.1f too close from last %6.0f\n", reading->getSensorTh(), lastAddedReading->getPose().findDistanceTo( reading->getPose())); #endif reading->setIgnoreThisReading(true); continue; } #ifdef DEBUGRANGEFILTER else if (file != NULL) fprintf(file, "%.1f from last %6.0f\n", reading->getSensorTh(), lastAddedReading->getPose().findDistanceTo( reading->getPose())); #endif } buf[0] = '\0'; bool goodAll = true; bool goodAny = false; if (myAnyFactor <= 0) goodAny = true; for (j = i - 1; (j >= 0 && //good && fabs(ArMath::subAngle(readingMap[j]->getSensorTh(), reading->getSensorTh())) <= myAngleToCheck); j--) { if (readingMap[j]->getIgnoreThisReading()) { #ifdef DEBUGRANGEFILTER sprintf(buf, "%s %6s", buf, "i"); #endif continue; } #ifdef DEBUGRANGEFILTER sprintf(buf, "%s %6d", buf, readingMap[j]->getRange()); #endif if (myAllFactor > 0 && !checkRanges(reading->getRange(), readingMap[j]->getRange(), myAllFactor)) goodAll = false; if (myAnyFactor > 0 && checkRanges(reading->getRange(), readingMap[j]->getRange(), myAnyFactor)) goodAny = true; } #ifdef DEBUGRANGEFILTER sprintf(buf, "%s %6d*", buf, reading->getRange()); #endif for (j = i + 1; (j < numReadings && //good && fabs(ArMath::subAngle(readingMap[j]->getSensorTh(), reading->getSensorTh())) <= myAngleToCheck); j++) { if (readingMap[j]->getIgnoreThisReading()) { #ifdef DEBUGRANGEFILTER sprintf(buf, "%s %6s", buf, "i"); #endif continue; } #ifdef DEBUGRANGEFILTER sprintf(buf, "%s %6d", buf, readingMap[j]->getRange()); #endif if (myAllFactor > 0 && !checkRanges(reading->getRange(), readingMap[j]->getRange(), myAllFactor)) goodAll = false; if (myAnyFactor > 0 && checkRanges(reading->getRange(), readingMap[j]->getRange(), myAnyFactor)) goodAny = true; } if (!goodAll || !goodAny) reading->setIgnoreThisReading(true); else lastAddedReading = reading; #ifdef DEBUGRANGEFILTER if (file != NULL) fprintf(file, "%5.1f %6d %c\t%s\n", reading->getSensorTh(), reading->getRange(), good ? 'g' : 'b', buf); #endif } #ifdef DEBUGRANGEFILTER if (file != NULL) fclose(file); #endif laserProcessReadings(); selfUnlockDevice(); myLaser->unlockDevice(); }
AREXPORT void ArLineFinder::fillPointsFromLaser(void) { const std::list<ArSensorReading *> *readings; std::list<ArSensorReading *>::const_iterator it; std::list<ArSensorReading *>::const_reverse_iterator rit; ArSensorReading *reading; int pointCount = 0; if (myPoints != NULL) delete myPoints; myPoints = new std::map<int, ArPose>; myRangeDevice->lockDevice(); readings = myRangeDevice->getRawReadings(); if (!myFlippedFound) { if (readings->begin() != readings->end()) { int size; size = readings->size(); it = readings->begin(); // advance along 10 readings for (int i = 0; i < 10 && i < size / 2; i++) it++; // see if we're flipped if (ArMath::subAngle((*(readings->begin()))->getSensorTh(), (*it)->getSensorTh()) > 0) myFlipped = true; else myFlipped = false; myFlippedFound = true; //printf("@@@ LINE %d %.0f\n", myFlipped, ArMath::subAngle((*(readings->begin()))->getSensorTh(), (*it)->getSensorTh())); } } if (readings->begin() == readings->end()) { myRangeDevice->unlockDevice(); return; } myPoseTaken = (*readings->begin())->getPoseTaken(); if (myFlipped) { for (rit = readings->rbegin(); rit != readings->rend(); rit++) { reading = (*rit); if (reading->getRange() > 5000 || reading->getIgnoreThisReading()) continue; (*myPoints)[pointCount] = reading->getPose(); pointCount++; } } else { for (it = readings->begin(); it != readings->end(); it++) { reading = (*it); if (reading->getRange() > 5000 || reading->getIgnoreThisReading()) continue; (*myPoints)[pointCount] = reading->getPose(); pointCount++; } } myRangeDevice->unlockDevice(); }
void Joydrive::drive(void) { int trans, rot; ArPose pose; ArPose rpose; ArTransform transform; ArRangeDevice *dev; ArSensorReading *son; if (!myRobot->isConnected()) { printf("Lost connection to the robot, exiting\n"); exit(0); } printf("\rx %6.1f y %6.1f th %6.1f", myRobot->getX(), myRobot->getY(), myRobot->getTh()); fflush(stdout); if (myJoyHandler.haveJoystick() && myJoyHandler.getButton(1)) { if (ArMath::fabs(myRobot->getVel()) < 10.0) myRobot->comInt(ArCommands::ENABLE, 1); myJoyHandler.getAdjusted(&rot, &trans); myRobot->setVel(trans); myRobot->setRotVel(-rot); } else { myRobot->setVel(0); myRobot->setRotVel(0); } if (myJoyHandler.haveJoystick() && myJoyHandler.getButton(2) && time(NULL) - myLastPress > 1) { myLastPress = time(NULL); printf("\n"); switch (myTest) { case 1: printf("Moving back to the origin.\n"); pose.setPose(0, 0, 0); myRobot->moveTo(pose); break; case 2: printf("Moving over a meter.\n"); pose.setPose(myRobot->getX() + 1000, myRobot->getY(), 0); myRobot->moveTo(pose); break; case 3: printf("Doing a transform test....\n"); printf("\nOrigin should be transformed to the robots coords.\n"); transform = myRobot->getToGlobalTransform(); pose.setPose(0, 0, 0); pose = transform.doTransform(pose); rpose = myRobot->getPose(); printf("Pos: "); pose.log(); printf("Robot: "); rpose.log(); if (pose.findDistanceTo(rpose) < .1) printf("Success\n"); else printf("#### FAILURE\n"); printf("\nRobot coords should be transformed to the origin.\n"); transform = myRobot->getToLocalTransform(); pose = myRobot->getPose(); pose = transform.doTransform(pose); rpose.setPose(0, 0, 0); printf("Pos: "); pose.log(); printf("Robot: "); rpose.log(); if (pose.findDistanceTo(rpose) < .1) printf("Success\n"); else printf("#### FAILURE\n"); break; case 4: printf("Doing a tranform test...\n"); printf("A point 1 meter to the -x from the robot (in local coords) should be transformed into global coordinates.\n"); transform = myRobot->getToGlobalTransform(); pose.setPose(-1000, 0, 0); pose = transform.doTransform(pose); rpose = myRobot->getPose(); printf("Pos: "); pose.log(); printf("Robot: "); rpose.log(); if (ArMath::fabs(pose.findDistanceTo(rpose) - 1000.0) < .1) printf("Probable Success\n"); else printf("#### FAILURE\n"); break; case 5: printf("Doing a transform test on range devices..\n"); printf("Moving the robot +4 meters x and +4 meters y and seeing if the moveTo will move the sonar readings along with it.\n"); dev = myRobot->findRangeDevice("sonar"); if (dev == NULL) { printf("No sonar on the robot, can't do the test.\n"); break; } printf("Closest sonar reading to the robot is %.0f away\n", dev->currentReadingPolar(1, 0)); printf("Sonar 0 reading is at "); son = myRobot->getSonarReading(0); if (son != NULL) { pose = son->getPose(); pose.log(); } pose = myRobot->getPose(); pose.setX(pose.getX() + 4000); pose.setY(pose.getY() + 4000); myRobot->moveTo(pose); printf("Moved robot.\n"); printf("Closest sonar reading to the robot is %.0f away\n", dev->currentReadingPolar(1, 0)); printf("Sonar 0 reading is at "); son = myRobot->getSonarReading(0); if (son != NULL) { pose = son->getPose(); pose.log(); } break; case 6: printf("Robot position now is:\n"); pose = myRobot->getPose(); pose.log(); printf("Disconnecting from the robot, then reconnecting.\n"); myRobot->disconnect(); myRobot->blockingConnect(); printf("Robot position now is:\n"); pose = myRobot->getPose(); pose.log(); break; default: printf("No test for second button.\n"); break; } } }