Revision: 6404
http://playerstage.svn.sourceforge.net/playerstage/?rev=6404&view=rev
Author: gerkey
Date: 2008-05-08 17:06:29 -0700 (Thu, 08 May 2008)
Log Message:
-----------
corrected angular min/max/increment for TOP-URG
Modified Paths:
--------------
code/player/trunk/server/drivers/laser/urg_laser.cc
Modified: code/player/trunk/server/drivers/laser/urg_laser.cc
===================================================================
--- code/player/trunk/server/drivers/laser/urg_laser.cc 2008-05-08 13:40:05 UTC
(rev 6403)
+++ code/player/trunk/server/drivers/laser/urg_laser.cc 2008-05-09 00:06:29 UTC
(rev 6404)
@@ -327,9 +327,9 @@
else // SCIP_Version = 3 (TOP-URG)
{
// HACK: should ask the device, but for now just hardcode it:
- cfg->min_angle = DTOR(-135.0);
- cfg->max_angle = DTOR(135.0);
- cfg->resolution = DTOR(270.0/1128.0);
+ cfg->min_angle = DTOR(-141.0);
+ cfg->max_angle = DTOR(141.0);
+ cfg->resolution = DTOR(282.0/1128.0);
cfg->max_range = 30.0;
printf ("> I: TOP-URG specifications: [min_angle, max_angle, resolution,
max_range] = [%f, %f, %f, %f]\n",
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