vato007/breezyslam
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Begin C interpolation code for distances,angles

Browse Source
This commit is contained in:
simondlevy
2018-07-04 14:50:51 -04:00
parent 5c3b00ec9c
commit b64defee23
2 changed files with 34 additions and 27 deletions
Download Patch File Download Diff File Expand all files Collapse all files

11
python/pybreezyslam.c
View File

@@ -288,21 +288,25 @@ Scan_update(Scan *self, PyObject *args, PyObject *kwds)
"lidar must be a list");
}
// Scan angles provided; run bozo-filter to match against lidar-list size
// Scan angles provided
if (py_scan_angles_degrees != Py_None)
{
// Bozo filter on SCAN_ANGLES_DEGREES argument
// Bozo filter #1: SCAN_ANGLES_DEGREES must be a list
if (!PyList_Check(py_scan_angles_degrees))
{
return null_on_raise_argument_exception_with_details("Scan", "update",
"scan angles must be a list");
}
// Bozo filter #2: must have same number of scan angles as scan distances
if (PyList_Size(py_lidar) != PyList_Size(py_scan_angles_degrees))
{
return null_on_raise_argument_exception_with_details("Scan", "update",
"number of scan angles must equal number of scan distances");
}
printf("Interpolate!\n");
Py_RETURN_NONE;
}
// No scan angles provided; lidar-list size must match scan size
@@ -312,13 +316,12 @@ Scan_update(Scan *self, PyObject *args, PyObject *kwds)
"lidar size mismatch");
}
// Default to no velocities
double dxy_mm = 0;
double dtheta_degrees = 0;
// Bozo filter on velocities tuple
if (py_velocities)
if (py_velocities != Py_None)
{
if (!PyTuple_Check(py_velocities))
{