Commit db349b08 authored by Alejandro Lopez Gestoso's avatar Alejandro Lopez Gestoso
Browse files

Adapted to global localization signals and updated to localization signals type

parent 6e13c636
......@@ -47,11 +47,14 @@
#define SIGN_MARKER_ID 0
#define SEMAPHORE_TYPE "1000001"
#define SEMAPHORE_MARKER_ID 1
#define LOC_SIGN_TRIANGLE_TYPE ""
#define LOC_SIGN_TRIANGLE_TYPE "1000"
#define LOC_SIGN_TRIANGLE_MARKER_ID 2
#define LOC_SIGN_ID_OFFSET 100
#define LOC_SIGN_TRIANGLE_WIDTH 0.074
#define LOC_SIGN_TRIANGLE_ANGLE M_PI/2
#define GLOBAL_LOC_TYPE "1001"
#define GLOBAL_LOC_MARKER 3
#define GLOBAL_LOC_SIGN_ID_OFFSET 200
#define SIGN_MARKER_ANGLE_OFFSET M_PI/2
//include adc_landmarks_slam_solver_alg main library
......
......@@ -138,6 +138,8 @@ bool AdcLandmarksSlamSolverAlgorithm::load_from_xodr(const std::string& _landmar
{
if(type == SEMAPHORE_TYPE)
l.type = SEMAPHORE_MARKER_ID;
else if (type == GLOBAL_LOC_TYPE)
l.type = GLOBAL_LOC_MARKER;
else
l.type = SIGN_MARKER_ID;
world = sign.get_world_pose();
......
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