[Fawkes Git] branch/tneumann/angle_distance_fix: colli: adapt to new syntax of angle distance

Tobias Neumann tobias.neumann at alumni.fh-aachen.de
Sat Jun 25 00:30:50 CEST 2016


Changes have been pushed for the project "Fawkes Robotics Software Framework".

Gitweb: http://git.fawkesrobotics.org/fawkes.git
Trac:   http://trac.fawkesrobotics.org

The branch, tneumann/angle_distance_fix has been updated
  discards  d4018f10c2e57dcb84486b960409f183e5e1c98d (commit)
        to  f47342e4b45958fafe492c087bbdb50fa989f638 (commit)

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 * -- * -- B -- O -- O -- O (d4018f10c2e57dcb84486b960409f183e5e1c98d)
            \
             N -- N -- N (f47342e4b45958fafe492c087bbdb50fa989f638)

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http://git.fawkesrobotics.org/fawkes.git/tneumann/angle_distance_fix

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- *Log* ---------------------------------------------------------------
commit f47342e4b45958fafe492c087bbdb50fa989f638
Author:     Tobias Neumann <t.neumann at fh-aachen.de>
AuthorDate: Fri Jun 24 18:42:15 2016 +0200
Commit:     Tobias Neumann <t.neumann at fh-aachen.de>
CommitDate: Fri Jun 24 23:49:21 2016 +0200

    colli: adapt to new syntax of angle distance
    
    for raytracing and deleting obstacales the signed version is needed
    for calculating the orientation to the target as well.

http://git.fawkesrobotics.org/fawkes.git/commit/f47342e
http://trac.fawkesrobotics.org/changeset/f47342e

- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -


- *Summary* -----------------------------------------------------------
 .../colli/drive_modes/forward_omni_drive_mode.cpp  |    2 +-
 1 files changed, 1 insertions(+), 1 deletions(-)


- *Diffs* -------------------------------------------------------------

- *commit* f47342e4b45958fafe492c087bbdb50fa989f638 - - - - - - - - - -
Author:  Tobias Neumann <t.neumann at fh-aachen.de>
Date:    Fri Jun 24 18:42:15 2016 +0200
Subject: colli: adapt to new syntax of angle distance

 .../colli/drive_modes/forward_omni_drive_mode.cpp  |    2 +-
 src/plugins/colli/search/og_laser.cpp              |    2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

_Diff for modified files_:
diff --git a/src/plugins/colli/drive_modes/forward_omni_drive_mode.cpp b/src/plugins/colli/drive_modes/forward_omni_drive_mode.cpp
index 07172c6..b35e4b0 100644
--- a/src/plugins/colli/drive_modes/forward_omni_drive_mode.cpp
+++ b/src/plugins/colli/drive_modes/forward_omni_drive_mode.cpp
@@ -139,7 +139,7 @@ ForwardOmniDriveModule::update()
 
   float dist_to_target    = sqrt( sqr(local_target_.x) + sqr(local_target_.y) );
   float alpha_target      = normalize_mirror_rad( atan2( local_target_.y, local_target_.x ) );
-  float alpha_next_target = angle_distance(robot_.ori, target_.ori);
+  float alpha_next_target = angle_distance_signed(robot_.ori, target_.ori);
 
   // last time border check............. IMPORTANT!!!
   // because the motorinstructor just tests robots physical borders.
diff --git a/src/plugins/colli/search/og_laser.cpp b/src/plugins/colli/search/og_laser.cpp
index f0c3098..ede4bf1 100644
--- a/src/plugins/colli/search/og_laser.cpp
+++ b/src/plugins/colli/search/og_laser.cpp
@@ -235,7 +235,7 @@ LaserOccupancyGrid::update_laser()
             new_readings_.push_back(point);
 
             if ( cfg_delete_invisible_old_obstacles_ ) {
-              float angle_dist = angle_distance( angle_min_, point_polar.phi );
+              float angle_dist = angle_distance_signed( angle_min_, point_polar.phi );
               if ( angle_dist >= 0 && angle_dist <= angle_range_ ) {
                 validate_old_laser_points(pos_robot, point.coord);
               }




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