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Commit 56ce2d39 authored by Ely Repiso Polo's avatar Ely Repiso Polo
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change names to the new name of the folder iri_robot_assaop_and_assagp

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src/fake_laser_gen_alg_node.cpp
+ 4
− 81
View file @ 56ce2d39
...@@ -173,154 +173,77 @@ void FakeLaserGenAlgNode::node_config_update(Config &config, uint32_t level) ...@@ -173,154 +173,77 @@ void FakeLaserGenAlgNode::node_config_update(Config &config, uint32_t level)
case FakeLaserGenAlgNode::n_obstacles_3 : // 7!? case FakeLaserGenAlgNode::n_obstacles_3 : // 7!?
ROS_INFO("n obstacles 3"); ROS_INFO("n obstacles 3");
LaserScan_msg_.ranges[100]= 4.0; LaserScan_msg_.ranges[100]= 4.0;
// LaserScan_msg_.ranges[100+40]= 4.0;
LaserScan_msg_.ranges[340]= 4.0; LaserScan_msg_.ranges[340]= 4.0;
// LaserScan_msg_.ranges[340+40]= 4.0;
LaserScan_msg_.ranges[580]= 4.0; LaserScan_msg_.ranges[580]= 4.0;
// LaserScan_msg_.ranges[580+40]= 4.0;
LaserScan_msg_.ranges[820]= 4.0; LaserScan_msg_.ranges[820]= 4.0;
// LaserScan_msg_.ranges[820+40]= 4.0;
LaserScan_msg_.ranges[1060]= 4.0; LaserScan_msg_.ranges[1060]= 4.0;
// LaserScan_msg_.ranges[1060+40]= 4.0;
LaserScan_msg_.ranges[1300]= 4.0; LaserScan_msg_.ranges[1300]= 4.0;
// LaserScan_msg_.ranges[1300+40]= 4.0;
LaserScan_msg_.ranges[1]= 10.0; LaserScan_msg_.ranges[1]= 10.0;
LaserScan_msg_.ranges[241]= 10.0; LaserScan_msg_.ranges[241]= 10.0;
LaserScan_msg_.ranges[481]= 10.0; LaserScan_msg_.ranges[481]= 10.0;
LaserScan_msg_.ranges[721]= 10.0; LaserScan_msg_.ranges[721]= 10.0;
LaserScan_msg_.ranges[961]= 10.0; LaserScan_msg_.ranges[961]= 10.0;
LaserScan_msg_.ranges[1201]= 10.0; LaserScan_msg_.ranges[1201]= 10.0;
// LaserScan_msg_.ranges[1+20]= 10.0;
// LaserScan_msg_.ranges[241+20]= 10.0;
// LaserScan_msg_.ranges[481+20]= 10.0;
// LaserScan_msg_.ranges[721+20]= 10.0;
// LaserScan_msg_.ranges[961+20]= 10.0;
// LaserScan_msg_.ranges[1201+20]= 10.0;
break; break;
case FakeLaserGenAlgNode::n_obstacles_4 : // 8!? case FakeLaserGenAlgNode::n_obstacles_4 : // 8!?
ROS_INFO("n obstacles 4"); ROS_INFO("n obstacles 4");
LaserScan_msg_.ranges[100]= 4.0; LaserScan_msg_.ranges[100]= 4.0;
// LaserScan_msg_.ranges[100+40]= 4.0;
LaserScan_msg_.ranges[340]= 4.0; LaserScan_msg_.ranges[340]= 4.0;
// LaserScan_msg_.ranges[340+40]= 4.0;
LaserScan_msg_.ranges[580]= 4.0; LaserScan_msg_.ranges[580]= 4.0;
// LaserScan_msg_.ranges[580+40]= 4.0;
LaserScan_msg_.ranges[820]= 4.0; LaserScan_msg_.ranges[820]= 4.0;
// LaserScan_msg_.ranges[820+40]= 4.0;
LaserScan_msg_.ranges[1060]= 4.0; LaserScan_msg_.ranges[1060]= 4.0;
// LaserScan_msg_.ranges[1060+40]= 4.0;
LaserScan_msg_.ranges[1300]= 4.0; LaserScan_msg_.ranges[1300]= 4.0;
// LaserScan_msg_.ranges[1300+40]= 4.0;
LaserScan_msg_.ranges[1]= 10.0; LaserScan_msg_.ranges[1]= 10.0;
// LaserScan_msg_.ranges[1+20]= 10.0;
LaserScan_msg_.ranges[121]= 10.0; LaserScan_msg_.ranges[121]= 10.0;
// LaserScan_msg_.ranges[121+20]= 10.0;
LaserScan_msg_.ranges[241]= 10.0; LaserScan_msg_.ranges[241]= 10.0;
// LaserScan_msg_.ranges[241+20]= 10.0;
LaserScan_msg_.ranges[361]= 10.0; LaserScan_msg_.ranges[361]= 10.0;
// LaserScan_msg_.ranges[361+20]= 10.0;
LaserScan_msg_.ranges[481]= 10.0; LaserScan_msg_.ranges[481]= 10.0;
// LaserScan_msg_.ranges[481+20]= 10.0;
LaserScan_msg_.ranges[601]= 10.0; LaserScan_msg_.ranges[601]= 10.0;
// LaserScan_msg_.ranges[601+20]= 10.0;
LaserScan_msg_.ranges[721]= 10.0; LaserScan_msg_.ranges[721]= 10.0;
// LaserScan_msg_.ranges[721+20]= 10.0;
LaserScan_msg_.ranges[841]= 10.0; LaserScan_msg_.ranges[841]= 10.0;
// LaserScan_msg_.ranges[841+20]= 10.0;
LaserScan_msg_.ranges[961]= 10.0; LaserScan_msg_.ranges[961]= 10.0;
// LaserScan_msg_.ranges[961+20]= 10.0;
LaserScan_msg_.ranges[1081]= 10.0; LaserScan_msg_.ranges[1081]= 10.0;
// LaserScan_msg_.ranges[1081+20]= 10.0;
LaserScan_msg_.ranges[1201]= 10.0; LaserScan_msg_.ranges[1201]= 10.0;
// LaserScan_msg_.ranges[1201+20]= 10.0;
break; break;
case FakeLaserGenAlgNode::n_obstacles_5 : // 8!? case FakeLaserGenAlgNode::n_obstacles_5 : // 9!?
ROS_INFO("n obstacles 5"); ROS_INFO("n obstacles 5");
LaserScan_msg_.ranges[100]= 4.0; LaserScan_msg_.ranges[100]= 4.0;
// LaserScan_msg_.ranges[100+40]= 4.0;
LaserScan_msg_.ranges[340]= 4.0; LaserScan_msg_.ranges[340]= 4.0;
// LaserScan_msg_.ranges[340+40]= 4.0;
LaserScan_msg_.ranges[580]= 4.0; LaserScan_msg_.ranges[580]= 4.0;
// LaserScan_msg_.ranges[580+40]= 4.0;
LaserScan_msg_.ranges[820]= 4.0; LaserScan_msg_.ranges[820]= 4.0;
// LaserScan_msg_.ranges[820+40]= 4.0;
LaserScan_msg_.ranges[1060]= 4.0; LaserScan_msg_.ranges[1060]= 4.0;
// LaserScan_msg_.ranges[1060+40]= 4.0;
LaserScan_msg_.ranges[1300]= 4.0; LaserScan_msg_.ranges[1300]= 4.0;
// LaserScan_msg_.ranges[1300+40]= 4.0;
LaserScan_msg_.ranges[1]= 7.0; LaserScan_msg_.ranges[1]= 7.0;
//LaserScan_msg_.ranges[1+2010]= 10.0;
LaserScan_msg_.ranges[121]= 7.0; LaserScan_msg_.ranges[121]= 7.0;
//LaserScan_msg_.ranges[121+20]= 10.0;
LaserScan_msg_.ranges[241]= 7.0; LaserScan_msg_.ranges[241]= 7.0;
//LaserScan_msg_.ranges[241+20]= 10.0;
LaserScan_msg_.ranges[361]= 7.0; LaserScan_msg_.ranges[361]= 7.0;
//LaserScan_msg_.ranges[361+20]= 10.0;
LaserScan_msg_.ranges[481]= 7.0; LaserScan_msg_.ranges[481]= 7.0;
//LaserScan_msg_.ranges[481+20]= 10.0;
LaserScan_msg_.ranges[601]= 7.0; LaserScan_msg_.ranges[601]= 7.0;
//LaserScan_msg_.ranges[601+20]= 10.0;
LaserScan_msg_.ranges[721]= 7.0; LaserScan_msg_.ranges[721]= 7.0;
// LaserScan_msg_.ranges[721+20]= 10.0;
LaserScan_msg_.ranges[841]= 7.0; LaserScan_msg_.ranges[841]= 7.0;
// LaserScan_msg_.ranges[841+20]= 10.0;
LaserScan_msg_.ranges[961]= 7.0; LaserScan_msg_.ranges[961]= 7.0;
// LaserScan_msg_.ranges[961+20]= 10.0;
LaserScan_msg_.ranges[1081]= 7.0; LaserScan_msg_.ranges[1081]= 7.0;
// LaserScan_msg_.ranges[1081+20]= 10.0;
LaserScan_msg_.ranges[1201]= 7.0; LaserScan_msg_.ranges[1201]= 7.0;
// LaserScan_msg_.ranges[1201+20]= 10.0;
LaserScan_msg_.ranges[50]= 12.0; LaserScan_msg_.ranges[50]= 12.0;
// LaserScan_msg_.ranges[50+10]= 15.0;
// LaserScan_msg_.ranges[150]= 15.0;
// LaserScan_msg_.ranges[150+10]= 15.0;
LaserScan_msg_.ranges[200]= 12.0; LaserScan_msg_.ranges[200]= 12.0;
// LaserScan_msg_.ranges[200+10]= 15.0;
// LaserScan_msg_.ranges[250]= 15.0;
// LaserScan_msg_.ranges[250+10]= 15.0;
LaserScan_msg_.ranges[300]= 12.0; LaserScan_msg_.ranges[300]= 12.0;
// LaserScan_msg_.ranges[300+10]= 15.0;
// LaserScan_msg_.ranges[350]= 15.0;
// LaserScan_msg_.ranges[350+10]= 10.0;
LaserScan_msg_.ranges[400]= 12.0; LaserScan_msg_.ranges[400]= 12.0;
// LaserScan_msg_.ranges[400+10]= 15.0;
// LaserScan_msg_.ranges[450]= 15.0;
// LaserScan_msg_.ranges[450+10]= 15.0;
LaserScan_msg_.ranges[500]= 12.0; LaserScan_msg_.ranges[500]= 12.0;
// LaserScan_msg_.ranges[500+10]= 15.0;
// LaserScan_msg_.ranges[550]= 15.0;
// LaserScan_msg_.ranges[550+10]= 15.0;
LaserScan_msg_.ranges[600]= 12.0; LaserScan_msg_.ranges[600]= 12.0;
// LaserScan_msg_.ranges[600+10]= 15.0;
// LaserScan_msg_.ranges[650]= 15.0;
// LaserScan_msg_.ranges[650+10]= 15.0;
LaserScan_msg_.ranges[700]= 12.0; LaserScan_msg_.ranges[700]= 12.0;
//LaserScan_msg_.ranges[700+10]= 15.0;
// LaserScan_msg_.ranges[750]= 15.0;
// LaserScan_msg_.ranges[750+10]= 15.0;
LaserScan_msg_.ranges[800]= 12.0; LaserScan_msg_.ranges[800]= 12.0;
// LaserScan_msg_.ranges[800+10]= 15.0;
// LaserScan_msg_.ranges[850]= 15.0;
// LaserScan_msg_.ranges[850+10]= 15.0;
LaserScan_msg_.ranges[900]= 12.0; LaserScan_msg_.ranges[900]= 12.0;
// LaserScan_msg_.ranges[900+10]= 15.0;
// LaserScan_msg_.ranges[950]= 15.0;
// LaserScan_msg_.ranges[950+10]= 15.0;
LaserScan_msg_.ranges[1000]= 12.0; LaserScan_msg_.ranges[1000]= 12.0;
//LaserScan_msg_.ranges[1000+10]= 15.0;
// LaserScan_msg_.ranges[1050]= 15.0;
// LaserScan_msg_.ranges[1050+10]= 15.0;
LaserScan_msg_.ranges[1100]= 12.0; LaserScan_msg_.ranges[1100]= 12.0;
// LaserScan_msg_.ranges[1100+10]= 15.0;
// LaserScan_msg_.ranges[1150]= 15.0;
// LaserScan_msg_.ranges[1150+10]= 15.0;
break; break;
......
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