23 #include "laser_mapper.h" 25 #include <core/exceptions/software.h> 26 #include <utils/math/angle.h> 27 #include <interfaces/Laser360Interface.h> 28 #include <libplayerc++/playerc++.h> 44 PlayerCc::LaserProxy *proxy)
47 __interface = interface;
59 if ( __proxy->GetCount() != 360 )
return;
61 if ( __proxy->IsFresh() ) {
71 for (
int i = 0; i < 360; ++i) {
72 distances[(i + __index_offset) % 360] = (*__proxy)[360 - i];
Laser360Interface Fawkes BlackBoard Interface.
virtual void sync_fawkes_to_player()
Sync Fawkes interface to Player proxy.
void write()
Write from local copy into BlackBoard memory.
void set_distances(unsigned int index, const float new_distances)
Set distances value at given index.
virtual void sync_player_to_fawkes()
Sync Player proxy to Fawkes interface.
Player proxy to Fawkes interface mapper interface.
float rad2deg(float rad)
Convert an angle given in radians to degrees.
PlayerLaserMapper(std::string varname, fawkes::Laser360Interface *interface, PlayerCc::LaserProxy *proxy)
Constructor.