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Added Java support.

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This commit is contained in:
Simon D. Levy
2014-10-26 17:46:47 -04:00
parent 721f75e2af
commit 08ab4a55bb
36 changed files with 630 additions and 311 deletions
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57
c/coreslam.c
View File

@@ -235,17 +235,14 @@ static void
int offset,
int distance,
int scanval,
laser_t laser,
double horz_mm,
double rotation)
{
int j;
for (j=0; j<scan->span; ++j)
{
double k = (double)(offset*scan->span+j) * laser.detection_angle_degrees /
(laser.scan_size * scan->span - 1);
double angle = radians(-laser.detection_angle_degrees/2 + k * rotation);
double k = (double)(offset*scan->span+j) * scan->detection_angle_degrees / (scan->size * scan->span - 1);
double angle = radians(-scan->detection_angle_degrees/2 + k * rotation);
double x = distance * cos(angle) - k * horz_mm;
double y = distance * sin(angle);
@@ -381,16 +378,27 @@ void
}
}
void
scan_init(
scan_t * scan,
int size,
int span)
void scan_init(
scan_t * scan,
int span,
int size,
double scan_rate_hz,
double detection_angle_degrees,
double distance_no_detection_mm,
int detection_margin,
double offset_mm)
{
scan->x_mm = double_alloc(size*span);
scan->y_mm = double_alloc(size*span);
scan->value = int_alloc(size*span);
scan->span = span;
scan->size = size;
scan->rate_hz = scan_rate_hz;
scan->detection_angle_degrees = detection_angle_degrees;
scan->distance_no_detection_mm = distance_no_detection_mm;
scan->detection_margin = detection_margin;
scan->offset_mm = offset_mm;
scan->npoints = 0;
scan->obst_npoints = 0;
@@ -421,16 +429,15 @@ void scan_string(
}
void
scan_update(
scan_update(
scan_t * scan,
int * lidar_mm,
laser_t laser,
double hole_width_mm,
double velocities_dxy_mm,
double velocities_dtheta_degrees)
{
/* Take velocity into account */
int degrees_per_second = (int)(laser.scan_rate_hz * 360);
int degrees_per_second = (int)(scan->rate_hz * 360);
double horz_mm = velocities_dxy_mm / degrees_per_second;
double rotation = 1 + velocities_dtheta_degrees / degrees_per_second;
@@ -440,14 +447,14 @@ void
scan->npoints = 0;
scan->obst_npoints = 0;
for (i=laser.detection_margin+1; i<laser.scan_size-laser.detection_margin; ++i)
for (i=scan->detection_margin+1; i<scan->size-scan->detection_margin; ++i)
{
int lidar_value_mm = lidar_mm[i];
/* No obstacle */
if (lidar_value_mm == 0)
{
scan_update_xy(scan, i, (int)laser.distance_no_detection_mm, NO_OBSTACLE, laser, horz_mm, rotation);
scan_update_xy(scan, i, (int)scan->distance_no_detection_mm, NO_OBSTACLE, horz_mm, rotation);
}
/* Obstacle */
@@ -457,7 +464,7 @@ void
int j = 0;
scan_update_xy(scan, i, lidar_value_mm, OBSTACLE, laser, horz_mm, rotation);
scan_update_xy(scan, i, lidar_value_mm, OBSTACLE, horz_mm, rotation);
/* Store obstacles separately for SSE */
for (j=oldstart; j<scan->npoints; ++j)
@@ -473,29 +480,11 @@ void
}
}
void
laser_string(
laser_t laser,
char * str)
{
sprintf(str,
"scan_size=%d | scan_rate=%3.3f hz | detection_angle=%3.3f deg | "
"distance_no_detection=%7.4f mm | detection_margin=%d | offset=%4.4f m",
laser.scan_size,
laser.scan_rate_hz,
laser.detection_angle_degrees,
laser.distance_no_detection_mm,
laser.detection_margin,
laser.offset_mm
);
}
position_t
rmhc_position_search(
position_t start_pos,
map_t * map,
scan_t * scan,
laser_t laser,
double sigma_xy_mm,
double sigma_theta_degrees,
int max_search_iter,

36
c/coreslam.h
View File

@@ -60,7 +60,14 @@ typedef struct scan_t
int * value;
int npoints;
int span;
int size; /* number of rays per scan */
double rate_hz; /* scans per second */
double detection_angle_degrees; /* e.g. 240, 360 */
double distance_no_detection_mm; /* default value when the laser returns 0 */
int detection_margin; /* first scan element to consider */
double offset_mm; /* position of the laser wrt center of rotation */
/* for SSE */
float * obst_x_mm;
float * obst_y_mm;
@@ -68,19 +75,6 @@ typedef struct scan_t
} scan_t;
typedef struct laser_t
{
int scan_size; /* number of points per scan */
double scan_rate_hz; /* scans per second */
double detection_angle_degrees; /* e.g. 240, 360 */
double distance_no_detection_mm; /* default value when the laser returns 0 */
int detection_margin; /* first scan element to consider */
double offset_mm; /* position of the laser wrt center of rotation */
} laser_t;
/* Exported functions ------------------------------------------------------- */
#ifdef __cplusplus
@@ -116,8 +110,13 @@ map_update(
void scan_init(
scan_t * scan,
int span,
int size,
int span);
double scan_rate_hz,
double detection_angle_degrees,
double distance_no_detection_mm,
int detection_margin,
double offset_mm);
void
scan_free(
@@ -131,7 +130,6 @@ void
scan_update(
scan_t * scan,
int * lidar_mm,
laser_t laser,
double hole_width_mm,
double velocities_dxy_mm,
double velocities_dtheta_degrees);
@@ -146,11 +144,6 @@ map_set(
map_t * map,
char * bytes);
void
laser_string(
laser_t laser,
char * str);
/* Returns -1 for infinity */
int
distance_scan_to_map(
@@ -165,7 +158,6 @@ rmhc_position_search(
position_t start_pos,
map_t * map,
scan_t * scan,
laser_t laser,
double sigma_xy_mm,
double sigma_theta_degrees,
int max_search_iter,