Java Reference
In-Depth Information
else if
(detectMeasure.distance > distance)
detectMeasure.set(distance, localPos.getT());
}
}
else if
(scan) {
double
distance
#
this
.read(
false
);
if
(distance > -1.0)
scanMeasures.add
(new Measure(distance, local.getT()));
}
}
}
10.5.4
Test
The test case consists of a laser scan from a given robot position. Table 10.4
reports the sequence of measurements related to the environment depicted
in Figure 10.11. The laser rotates clockwise from the initial direction along
the robot's
x
-axis. It encounters the polygonal obstacle in front of the
robot when the laser direction is equal to 0.13962 radians (8 degrees). The
distance is equal to 71.8529 centimetres.
The laser continues to detect the obstacle until the direction is equal to
1.88495 radians (108 degrees). The distance is equal to 63.0877 centi-
metres. Then the laser does not perceive the presence of other obstacles
until it reaches the direction of 3.92699 radians (225 degrees) where it
measures a distance equal to 98.9949 centimetres.
Table 10.4
The distance measures of a laser scan
Distance
Direction
Distance
Direction
Distance
Direction
Distance
Direction
d
#
71.8529
d
#
39.1622
d
#
63.0877
d
#
61.8368
t
#
0.13962
t
#
0.69813
t
#
1.25663
t
#
1.81514
d
#
63.9245
d
#
39.7503
d
#
62.7415
d
#
62.1165
t
#
0.15707
t
#
0.71558
t
#
1.27409
t
#
1.83259
d
#
57.5877
d
#
40.3689
d
#
62.4179
d
#
62.4179
t
#
0.17453
t
#
0.73303
t
#
1.29154
t
#
1.85004
d
#
52.4084
d
#
41.0198
d
#
62.1165
d
#
62.7415
t
#
0.19198
t
#
0.75049
t
#
1.30899
t
#
1.86750
d
#
48.0973
d
#
41.7049
d
#
61.8368
d
#
63.0877
t
#
0.20943
t
#
0.76794
t
#
1.32645
t
#
1.88495
d
#
44.4541
d
#
42.4264
d
#
61.5782
d
#
98.9949
t
#
0.22689
t
#
0.78539
t
#
1.34390
t
#
3.92699
d
#
41.3356
d
#
43.1866
d
#
61.3404
d
#
92.1466
t
#
0.24434
t
#
0.80285
t
#
1.36135
t
#
5.04400
d
#
38.6370
d
#
43.9883
d
#
61.1230
d
#
87.7141
t
#
0.26179
t
#
0.82030
t
#
1.37881
t
#
5.06145
d
#
36.2795
d
#
44.8342
d
#
60.9255
d
#
83.7128
continued
