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Begin support for interpolation in c/coreslam:scan_update()

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This commit is contained in:
simondlevy
2018-07-04 15:16:50 -04:00
parent c5b86a6940
commit b4567062ad
6 changed files with 11 additions and 5 deletions
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5
c/coreslam.c
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@@ -432,7 +432,8 @@ void scan_string(
void void
scan_update( scan_update(
scan_t * scan, scan_t * scan,
int * lidar_mm, float * lidar_angles_deg,
int * lidar_distances_mm,
double hole_width_mm, double hole_width_mm,
double velocities_dxy_mm, double velocities_dxy_mm,
double velocities_dtheta_degrees) double velocities_dtheta_degrees)
@@ -450,7 +451,7 @@ scan_update(
for (i=scan->detection_margin+1; i<scan->size-scan->detection_margin; ++i) for (i=scan->detection_margin+1; i<scan->size-scan->detection_margin; ++i)
{ {
int lidar_value_mm = lidar_mm[i]; int lidar_value_mm = lidar_distances_mm[i];
/* No obstacle */ /* No obstacle */
if (lidar_value_mm == 0) if (lidar_value_mm == 0)

3
c/coreslam.h
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@@ -133,7 +133,8 @@ void scan_string(
void void
scan_update( scan_update(
scan_t * scan, scan_t * scan,
int * lidar_mm, float * lidar_angles_deg,
int * lidar_distances_mm,
double hole_width_mm, double hole_width_mm,
double velocities_dxy_mm, double velocities_dxy_mm,
double velocities_dtheta_degrees); double velocities_dtheta_degrees);

1
cpp/Scan.cpp
View File

@@ -80,6 +80,7 @@ Scan::update(
{ {
scan_update( scan_update(
this->scan, this->scan,
NULL, // no support for angles/interpolation yet
scanvals_mm, scanvals_mm,
hole_width_millimeters, hole_width_millimeters,
poseChange.dxy_mm, poseChange.dxy_mm,

3
java/edu/wlu/cs/levy/breezyslam/components/jnibreezyslam_components.c
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@@ -126,7 +126,8 @@ JNIEXPORT void JNICALL Java_edu_wlu_cs_levy_breezyslam_components_Scan_update (J
jint * lidar_mm_c = (*env)->GetIntArrayElements(env, lidar_mm, 0); jint * lidar_mm_c = (*env)->GetIntArrayElements(env, lidar_mm, 0);
scan_update(scan, lidar_mm_c, hole_width_mm, velocities_dxy_mm, velocities_dtheta_degrees); // no support for angles/interpolation yet
scan_update(scan, NULL, lidar_mm_c, hole_width_mm, velocities_dxy_mm, velocities_dtheta_degrees);
(*env)->ReleaseIntArrayElements(env, lidar_mm, lidar_mm_c, 0); (*env)->ReleaseIntArrayElements(env, lidar_mm, lidar_mm_c, 0);
} }

3
matlab/mex_breezyslam.c
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@@ -191,7 +191,8 @@ static void _scan_update(const mxArray * prhs[])
double * velocities = mxGetPr(prhs[4]); double * velocities = mxGetPr(prhs[4]);
scan_update(scan, lidar_mm, hole_width_mm, velocities[0], velocities[1]); /* no support for angles/interpolation yet */
scan_update(scan, NULL, lidar_mm, hole_width_mm, velocities[0], velocities[1]);
} }
static void _randomizer_init(mxArray *plhs[], const mxArray * prhs[]) static void _randomizer_init(mxArray *plhs[], const mxArray * prhs[])

1
python/pybreezyslam.c
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@@ -347,6 +347,7 @@ Scan_update(Scan *self, PyObject *args, PyObject *kwds)
// Update the scan // Update the scan
scan_update( scan_update(
&self->scan, &self->scan,
NULL,
self->lidar_distances_mm, self->lidar_distances_mm,
hole_width_mm, hole_width_mm,
dxy_mm, dxy_mm,