reverse_angle.cpp

00001 
00002 /***************************************************************************
00003  *  reverse_angle.h - Reverse the angle in which laser data is taken
00004  *
00005  *  Created: Wed Jan 06 17:15:38 2010
00006  *  Copyright  2006-2010  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 data_size Data size of the input. Output size will be the same. The
00041  * input data must have the exact same data size.
00042  */
00043 LaserReverseAngleDataFilter::LaserReverseAngleDataFilter(unsigned int data_size)
00044 {
00045   _filtered_data      = (float *)malloc(sizeof(float) * data_size);
00046   _filtered_data_size = data_size;
00047 }
00048 
00049 void
00050 LaserReverseAngleDataFilter::filter(const float *data, unsigned int data_size)
00051 {
00052   if ( data_size != _filtered_data_size ) {
00053     throw fawkes::Exception("Expected %u values, but got %u",
00054                             _filtered_data_size, data_size);
00055   }
00056 
00057   for (unsigned int i = 0; i < _filtered_data_size; ++i) {
00058     _filtered_data[i] = data[data_size - i];
00059   }
00060 }

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