ROBOT_DEMO: fix starting index and inverted logic

diff --git a/orte/Robot_Demo/src/org/ocera/orte/demo/HokuyoScanType.java b/orte/Robot_Demo/src/org/ocera/orte/demo/HokuyoScanType.java
index 5be174ae794ce8b746334172e20c3bb344484062..be16593eb9859758a58b9a4ee516048220f6f286 100644 (file)
--- a/orte/Robot_Demo/src/org/ocera/orte/demo/HokuyoScanType.java
+++ b/orte/Robot_Demo/src/org/ocera/orte/demo/HokuyoScanType.java
@@ -11,7 +11,7 @@ public class HokuyoScanType extends MessageData {
        public HokuyoScanType(DomainApp domainApp, String newTopic) {
            super();
            this.setTopic(newTopic); 
-           if (domainApp.regNewDataType("hokuyo_scan",getMaxDataLength())) {
+           if (!domainApp.regNewDataType("hokuyo_scan",getMaxDataLength())) {
                System.out.println(":j!: cannot register data type \"hokuyo_scan\"!");    
            }
        }

diff --git a/orte/Robot_Demo/src/org/ocera/orte/demo/HokuyoView.java b/orte/Robot_Demo/src/org/ocera/orte/demo/HokuyoView.java
index 5bd16d07a3fa6e6ebf4af76c5c135f8a7a87655b..5c6ea58ef5f87db4b8adfaab31f78fadf2db8690 100644 (file)
--- a/orte/Robot_Demo/src/org/ocera/orte/demo/HokuyoView.java
+++ b/orte/Robot_Demo/src/org/ocera/orte/demo/HokuyoView.java
@@ -58,7 +58,7 @@ public class HokuyoView extends View {
                                                double norm = (double)getWidth()/(2*COSINUS);
                                                if (norm > getHeight())
                                                        norm = getHeight();
-                                               for(int i = HOKUYO_INDEX_LOWER; i <= HOKUYO_INDEX_UPPER; i++) {
+                                               for(int i = HOKUYO_INDEX_LOWER+1; i <= HOKUYO_INDEX_UPPER; i++) {
                                                        data[i] = (int)(((double)data[i]/4000)*norm);
                                            int x = (int)(getWidth()/2) - (int)(data[i] * Math.sin(HOKUYO_INDEX_TO_RAD(i)));
                                            int y = getHeight() - (int)(data[i] * Math.cos(HOKUYO_INDEX_TO_RAD(i)));