Robodim: Corrected beacon order

diff --git a/src/mcl/matlab/init.m b/src/mcl/matlab/init.m
index 19449c7e614d4e67496a3c4a358de6564676e39d..e519cdc9bc5fb3581fddde2aa74645cc1858923d 100644 (file)
--- a/src/mcl/matlab/init.m
+++ b/src/mcl/matlab/init.m
@@ -13,7 +13,7 @@ robot.wheelr=0.05;
 area.w=3;\r
 area.h=2.1;\r
 % area.beacon=[0 area.h; 0 0; area.w area.h/2];\r
-area.beacon=[0 area.h/2; area.w 0; area.w area.h]; % same as in MCL\r
+area.beacon=[0 area.h/2; area.w 0; area.w area.h; area.w 0.5]; % same as in MCL\r
 \r
 shape.outline=[\r
     0 0\r

diff --git a/src/mcl/matlab/sfdrawrobot.m b/src/mcl/matlab/sfdrawrobot.m
index b6dfea2fbcc157d07498443f5b75df4dceb4e180..c85616cab5666bf7aae32922e8f4b5f69abcebcf 100644 (file)
--- a/src/mcl/matlab/sfdrawrobot.m
+++ b/src/mcl/matlab/sfdrawrobot.m
@@ -64,6 +64,7 @@ function setup(block)
   block.RegBlockMethod('PostPropagationSetup', @DoPostPropSetup);\r
   block.RegBlockMethod('ProcessParameters', @ProcessPrms);\r
   block.RegBlockMethod('SetInputPortSampleTime', @SetInputPortSampleTime);\r
+  block.RegBlockMethod('SetInputPortDimensions',  @SetInpPortDims);\r
   block.RegBlockMethod('Start', @Start);\r
   block.RegBlockMethod('Update', @Update);\r
 %endfunction\r
@@ -74,6 +75,11 @@ function setup(block)
 %% above.\r
 %% -------------------------------------------------------------------\r
 \r
+function SetInpPortDims(block,idx,di)\r
+  block.InputPort(idx).Dimensions = di;\r
+%endfunction\r
+\r
+\r
 function CheckPrms(block)\r
   \r
 %   a = block.DialogPrm(1).Data;\r
@@ -127,7 +133,7 @@ function Start(block)
     % Initialize beam counter\r
     block.Dwork(3).Data = 0;\r
     % Clear space for storing last input values\r
-    block.Dwork(4).Data = zeros(size(block.Dwork(2).Data));\r
+    block.Dwork(4).Data = zeros(size(block.Dwork(4).Data));\r
     % Set last redraw to the past\r
     block.Dwork(5).Data = -1;\r
 \r
@@ -172,7 +178,7 @@ function Update(block)
         counter = block.Dwork(3).Data;\r
         if length(y) == 1,\r
             % Delete only the line which is going to be redrawn\r
-            counter = 1;%mod(counter,3)+1;\r
+            counter = 1;%mod(counter,4)+1;\r
             if oldPlot(counter), \r
                 delete(oldPlot(counter));\r
                 oldPlot(counter) = 0;\r

diff --git a/src/mcl/test/Makefile.omk b/src/mcl/test/Makefile.omk
index 36a5df4e38bd380bccce4740c9989fd3c22c4d81..6f76c392b0f8f17ccdc61e9787a96c1b5f489040 100644 (file)
--- a/src/mcl/test/Makefile.omk
+++ b/src/mcl/test/Makefile.omk
@@ -2,5 +2,5 @@
 
 test_PROGRAMS += testmcl_performance
 testmcl_performance_SOURCES = testmcl_performance.c
-testmcl_performance_LIBS = mcl shist robomath m rt
+testmcl_performance_LIBS = mcl shist robomath m rt robodim_eb2008
 

diff --git a/src/robodim/eb2008/Makefile.omk b/src/robodim/eb2008/Makefile.omk
index 55ea2f8c83dac6b3956ace5dadd2eec86de72c53..c410562dda10847704ab1f8facb78c7ffb7047f6 100644 (file)
--- a/src/robodim/eb2008/Makefile.omk
+++ b/src/robodim/eb2008/Makefile.omk
@@ -1,3 +1,5 @@
 # -*- makefile -*-
 
 include_HEADERS = robodim_eb2008.h
+lib_LIBRARIES = robodim_eb2008
+robodim_eb2008_SOURCES = robodim_eb2008.c

diff --git a/src/robodim/eb2008/robodim_eb2008.h b/src/robodim/eb2008/robodim_eb2008.h
index 29aac96cfbcec0f22743dc0d49744f9b515dbfe8..8b8d40751223905455b072ffcb3110b49d1d6b04 100644 (file)
--- a/src/robodim/eb2008/robodim_eb2008.h
+++ b/src/robodim/eb2008/robodim_eb2008.h
@@ -101,22 +101,11 @@
 #define        BEACON_RED              1
 #define BEACON_CNT             4
 
-#define BEACON_BLUE1_X         0 /* R1 */
-#define BEACON_BLUE1_Y         (PLAYGROUND_HEIGHT_M/2)
-#define BEACON_BLUE2_X         PLAYGROUND_WIDTH_M /* R2 */
-#define BEACON_BLUE2_Y         0
-#define BEACON_BLUE3_X         PLAYGROUND_WIDTH_M /* R3 */
-#define BEACON_BLUE3_Y         PLAYGROUND_HEIGHT_M
-#define BEACON_BLUE4_X         PLAYGROUND_WIDTH_M /* R4 */
-#define BEACON_BLUE4_Y         BASKET_WIDTH
+struct beacon_pos {
+       float x, y;
+};
 
-#define BEACON_RED1_X          PLAYGROUND_WIDTH_M /* S1 */
-#define BEACON_RED1_Y          (PLAYGROUND_HEIGHT_M/2)
-#define BEACON_RED2_X          0 /* S2 */
-#define BEACON_RED2_Y          PLAYGROUND_HEIGHT_M
-#define BEACON_RED3_X          0 /* S3 */
-#define BEACON_RED3_Y          0
-#define BEACON_RED4_X          0 /* S4 */
-#define BEACON_RED4_Y          BASKET_WIDTH
+extern const struct beacon_pos beacon_blue[BEACON_CNT];
+extern const struct beacon_pos beacon_red[BEACON_CNT];
 
 #endif /* ROBODIM_EB2008_H */