From: Martin Vajnar <martin.vajnar@gmail.com>
Date: Mon, 19 Aug 2013 21:32:03 +0000 (+0200)
Subject: ROBOT_DEMO: fix starting index and inverted logic
X-Git-Url: https://rtime.felk.cvut.cz/gitweb/orte.git/commitdiff_plain/a4e197365b508f6268d7ea54dbbbdb629e8ca623

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 5be174a..be16593 100644
--- 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 5bd16d0..5c6ea58 100644
--- 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)));