Fawkes API
Fawkes Development Version
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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 }