/*-------------------------------------------------------------
getSonarsReadings
-------------------------------------------------------------*/
void CActivMediaRobotBase::getSonarsReadings( bool &thereIsObservation, CObservationRange &obs )
{
#if MRPT_HAS_ARIA
ASSERTMSG_(THE_ROBOT!=NULL, "Robot is not connected")
THE_ROBOT->lock();
obs.minSensorDistance = 0;
obs.maxSensorDistance = 30;
int i,N =THE_ROBOT->getNumSonar();
obs.sensorLabel = "BASE_SONARS";
obs.sensorConeApperture = DEG2RAD( 30 );
obs.timestamp = system::now();
obs.sensedData.clear();
unsigned int time_cnt = THE_ROBOT->getCounter();
if (m_lastTimeSonars == time_cnt)
{
thereIsObservation = false;
THE_ROBOT->unlock();
return;
}
for (i=0;i<N;i++)
{
ArSensorReading *sr = THE_ROBOT->getSonarReading(i);
if (sr->getIgnoreThisReading()) continue;
// if (!sr->isNew(time_cnt))
// {
//thereIsObservation = false;
//break;
// }
obs.sensedData.push_back( CObservationRange::TMeasurement() );
CObservationRange::TMeasurement & newObs = obs.sensedData.back();
newObs.sensorID = i;
newObs.sensorPose.x = 0.001*sr->getSensorX();
newObs.sensorPose.y = 0.001*sr->getSensorY();
newObs.sensorPose.z = 0; //0.001*sr->getSensorZ();
newObs.sensorPose.yaw = DEG2RAD( sr->getSensorTh() );
newObs.sensorPose.pitch = 0;
newObs.sensorPose.roll = 0;
newObs.sensedDistance = 0.001*THE_ROBOT->getSonarRange(i);
}
THE_ROBOT->unlock();
thereIsObservation = !obs.sensedData.empty();
// keep the last time:
if (thereIsObservation)
m_lastTimeSonars = time_cnt;
#else
MRPT_UNUSED_PARAM(thereIsObservation); MRPT_UNUSED_PARAM(obs);
THROW_EXCEPTION("MRPT has been compiled with 'MRPT_BUILD_ARIA'=OFF, so this class cannot be used.");
#endif
}
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);
}
