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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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9
matlab/Scan.m
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@@ -19,7 +19,6 @@ classdef Scan
properties (Access = {?Map, ?RMHC_SLAM})
c_scan
c_laser
end
methods
@@ -34,14 +33,14 @@ classdef Scan
% distance_no_detection_mm
% distance_no_detection_mm
% detection_margin
% offset_mm = offset_mm
% offset_mm = offset_mm
% span (default=1) supports spanning laser scan to cover the space better
if nargin < 2
span = 1;
end
[scan.c_scan, scan.c_laser] = mex_breezyslam('Scan_init', laser, span);
scan.c_scan = mex_breezyslam('Scan_init', laser, span);
end
@@ -59,7 +58,7 @@ classdef Scan
% hole_width_mm is the width of holes (obstacles, walls) in millimeters.
% velocities is an optional list[dxy_mm, dtheta_degrees]
% i.e., robot's (forward, rotational velocity) for improving the quality of the scan.
mex_breezyslam('Scan_update', scan.c_scan, scan.c_laser, int32(scans_mm), hole_width_mm, velocities)
mex_breezyslam('Scan_update', scan.c_scan, int32(scans_mm), hole_width_mm, velocities)
end
end