Revision: 6440
http://playerstage.svn.sourceforge.net/playerstage/?rev=6440&view=rev
Author: gerkey
Date: 2008-05-14 19:59:46 -0700 (Wed, 14 May 2008)
Log Message:
-----------
fixed major origin bug in amcl
Modified Paths:
--------------
code/player/trunk/server/drivers/localization/amcl/amcl_laser.cc
Modified: code/player/trunk/server/drivers/localization/amcl/amcl_laser.cc
===================================================================
--- code/player/trunk/server/drivers/localization/amcl/amcl_laser.cc
2008-05-15 02:10:16 UTC (rev 6439)
+++ code/player/trunk/server/drivers/localization/amcl/amcl_laser.cc
2008-05-15 02:59:46 UTC (rev 6440)
@@ -176,7 +176,8 @@
player_map_info_t* info = (player_map_info_t*)msg->GetPayload();
// copy in the map info
- this->map->origin_x = this->map->origin_y = 0.0;
+ this->map->origin_x = info->origin.px + (info->scale * info->width) / 2.0;
+ this->map->origin_y = info->origin.py + (info->scale * info->height) / 2.0;
this->map->scale = info->scale;
this->map->size_x = info->width;
this->map->size_y = info->height;
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