Fawkes API  Fawkes Development Version
reverse_angle.cpp
00001 
00002 /***************************************************************************
00003  *  reverse_angle.cpp - Reverse the angle in which laser data is taken
00004  *
00005  *  Created: Wed Jan 06 17:15:38 2010
00006  *  Copyright  2006-2011  Tim Niemueller [www.niemueller.de]
00007  *
00008  ****************************************************************************/
00009 
00010 /*  This program is free software; you can redistribute it and/or modify
00011  *  it under the terms of the GNU General Public License as published by
00012  *  the Free Software Foundation; either version 2 of the License, or
00013  *  (at your option) any later version.
00014  *
00015  *  This program is distributed in the hope that it will be useful,
00016  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
00017  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00018  *  GNU Library General Public License for more details.
00019  *
00020  *  Read the full text in the LICENSE.GPL file in the doc directory.
00021  */
00022 
00023 #include "reverse_angle.h"
00024 
00025 #include <core/exception.h>
00026 #include <utils/math/angle.h>
00027 #include <cstdlib>
00028 
00029 /** @class LaserReverseAngleDataFilter "reverse_angle.h"
00030  * Reverse the angle of beams.
00031  * This filter will reverse the direction in which the beams are stored.
00032  * If the original interface stores the data in clockwise direction, the
00033  * outcome will be in counter-clockwise direction and vice versa. This is
00034  * required for example to convert between the (clockwise) RCSoftX angles,
00035  * and the (counter-clockwise) angles in the Fawkes coordinate system.
00036  * @author Tim Niemueller
00037  */
00038 
00039 /** Constructor.
00040  * @param in_data_size number of entries input value arrays
00041  * @param in vector of input arrays
00042  */
00043 LaserReverseAngleDataFilter::LaserReverseAngleDataFilter(unsigned int in_data_size,
00044                                                          std::vector<LaserDataFilter::Buffer *> &in)
00045   : LaserDataFilter(in_data_size, in, in.size())
00046 {
00047 }
00048 
00049 void
00050 LaserReverseAngleDataFilter::filter()
00051 {
00052   const unsigned int vecsize = std::min(in.size(), out.size());
00053   const unsigned int arrsize = std::min(in_data_size, out_data_size);
00054   for (unsigned int a = 0; a < vecsize; ++a) {
00055     out[a]->frame = in[a]->frame;
00056     float *inbuf  = in[a]->values;
00057     float *outbuf = out[a]->values;
00058     for (unsigned int i = 0; i < arrsize; ++i) {
00059       outbuf[i] = inbuf[arrsize - i];
00060     }
00061   }
00062 }