new filter satisfying LGD's requirements
This commit is contained in:
commit
68ada0a28c
2 changed files with 11 additions and 5 deletions
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@ -17,8 +17,8 @@ class Run
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private:
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private:
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float xx, yy, dz;
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float xx, yy, dz;
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// xx > 0 : forward
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// xx < 0 : forward
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// xx < 0 : backward
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// xx > 0 : backward
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// yy > 0 : right
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// yy > 0 : right
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// yy < 0 : left
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// yy < 0 : left
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@ -56,12 +56,10 @@ class Run
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if (fabs(yy) > fabs(xx) && fabs(yy) > y_dev_min)
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if (fabs(yy) > fabs(xx) && fabs(yy) > y_dev_min)
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{
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{
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mvt->linear.y = yy * plan_vel;
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mvt->linear.y = yy * plan_vel;
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mvt->linear.x = 0.;
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}
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}
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else if (fabs(xx) > x_dev_min)
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else if (fabs(xx) > x_dev_min)
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{
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{
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mvt->linear.x = xx * plan_vel;
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mvt->linear.x = - xx * plan_vel;
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mvt->linear.y = 0.;
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}
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}
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assert(mvt->linear.x == 0. || mvt->linear.y == 0.);
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assert(mvt->linear.x == 0. || mvt->linear.y == 0.);
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@ -68,14 +68,22 @@ class Callback {
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return std::min(diff1, diff2);
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return std::min(diff1, diff2);
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}
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}
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<<<<<<< HEAD
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float sat(const Point& pt)
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float sat(const Point& pt)
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=======
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float sat_dist(const Point& pt)
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>>>>>>> 016c5b01c8e2d4513b333d32b0e0689e985e6776
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{
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{
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float h, s, v, diff1, diff2;
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float h, s, v, diff1, diff2;
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pcl::tracking::RGB2HSV(pt.r, pt.g, pt.b, h, s, v);
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pcl::tracking::RGB2HSV(pt.r, pt.g, pt.b, h, s, v);
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return s;
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return s;
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}
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}
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<<<<<<< HEAD
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float val(const Point& pt)
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float val(const Point& pt)
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=======
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float val_dist(const Point& pt)
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>>>>>>> 016c5b01c8e2d4513b333d32b0e0689e985e6776
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{
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{
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float h, s, v, diff1, diff2;
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float h, s, v, diff1, diff2;
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pcl::tracking::RGB2HSV(pt.r, pt.g, pt.b, h, s, v);
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pcl::tracking::RGB2HSV(pt.r, pt.g, pt.b, h, s, v);
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