Revision: 9138
http://sourceforge.net/p/playerstage/svn/9138
Author: jpgr87
Date: 2014-02-18 00:28:27 +0000 (Tue, 18 Feb 2014)
Log Message:
-----------
Applied patch #347: Bug in laserrescan driver
Modified Paths:
--------------
code/player/trunk/server/drivers/laser/laserrescan.cc
Modified: code/player/trunk/server/drivers/laser/laserrescan.cc
===================================================================
--- code/player/trunk/server/drivers/laser/laserrescan.cc 2014-02-16
17:38:42 UTC (rev 9137)
+++ code/player/trunk/server/drivers/laser/laserrescan.cc 2014-02-18
00:28:27 UTC (rev 9138)
@@ -111,6 +111,7 @@
double min_angle, max_angle, res;
int scan_count;
+ bool angle_warn;
};
@@ -138,6 +139,7 @@
this->min_angle = cf->ReadAngle(section, "min_angle", -M_PI/2.0);
this->scan_count = cf->ReadInt(section, "scan_count", 181);
res = (max_angle - min_angle) / scan_count;
+ angle_warn = false;
return;
}
@@ -158,6 +160,11 @@
this->data.ranges = new float[scan_count];
this->data.max_range = data->max_range;
+ if ( (data->min_angle > min_angle || data->max_angle < max_angle) &&
angle_warn == false) {
+ angle_warn = true;
+ PLAYER_WARN("Parts of the interpolated laser configuration lie outside of
the source laser range");
+ }
+
double real_min = data->min_angle;
double real_res = data->resolution;
@@ -166,8 +173,8 @@
double theta = min_angle + i*res;
double new_i = (theta - real_min)/real_res;
- unsigned int j = (int) floor(new_i);
- unsigned int k = (int) ceil(new_i);
+ unsigned int j = (int) floor(new_i) < 0 ? 0 : (int)
floor(new_i);
+ unsigned int k = (int) ceil(new_i) < 0 ? 0 : (int) ceil(new_i);
if (j < 0)
j = 0;
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