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