From a3078ea6143ff7c1f411db67db1a428074036f63 Mon Sep 17 00:00:00 2001 From: ehiker Date: Sat, 8 Oct 2011 23:01:27 +0200 Subject: [PATCH] robofsm/map_handling: minor adjustments to better simulate --- src/robofsm/map_handling.c | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/src/robofsm/map_handling.c b/src/robofsm/map_handling.c index 869bc6bf..0fbdca9e 100644 --- a/src/robofsm/map_handling.c +++ b/src/robofsm/map_handling.c @@ -8,8 +8,8 @@ * Parameters of Obstacle detection *******************************************************************************/ -#define OBS_SIZE_M 0.2 /**< Expected size of detected obstacle */ -#define IGNORE_CLOSER_THAN_M 0.2 /**< Do not mark any obstacle closer than this to center of the robot (avoid path planning deadlock) */ +#define OBS_SIZE_M 0.1 /**< Expected size of detected obstacle */ +#define IGNORE_CLOSER_THAN_M 0.1 /**< Do not mark any obstacle closer than this to center of the robot (avoid path planning deadlock) */ #define IGNORE_FURTHER_THAN_M 0.5 /**< Ignore data from sharp if further than this */ #define OBS_FORGET_PERIOD 100 /**< The period of thread_obstacle_forgeting [ms] */ #define OBS_FORGET_SEC 1 /**< Time to completely forget detected obstacle. */ @@ -107,7 +107,7 @@ void update_map_hokuyo(struct hokuyo_scan_type *s) if(data[i] > 19 && data[i] < 4000) { obst_coord(&e, &beam, data[i]/1000.0, &x, &y); obstacle_detected_at(x, y, true); - obst_coord(&e, &beam, (data[i]/1000.0)+0.3, &x, &y); + obst_coord(&e, &beam, (data[i]/1000.0)+0.1, &x, &y); obstacle_detected_at(x, y, false); } -- 2.39.2