Laser Sensor Reading and Full Screen option

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minato
Posts: 1
Joined: 02 Oct 2013, 01:44

Laser Sensor Reading and Full Screen option

Post by minato »

Hello,

I try to implement the Hokuyo sensor, but I found that the data is an array of obstacle positions (is it correct ?). Actually I want to have the data like the real Hokuyo (I mean, the ray data which represent the distance of ray trace to obstacles, for example from 0 to 180 degrees). Is there any remoteAPI which implements such case ?

I also wonder if the V-REP simulation can be run in a full-screen mode ?

Thanks

coppelia
Site Admin
Posts: 10339
Joined: 14 Dec 2012, 00:25

Re: Laser Sensor Reading and Full Screen option

Post by coppelia »

Hello,

the data that comes from the Hokuyo sensor (e.g. the Hokuyo URG 04LX UG01_Fast.ttm) is a succession of coordinates, relative to the model's reference (i.e. fastHokuyo_ref):
  • pt1=x1,y1,z1
  • pt2=x2,y2,z2
  • pt3=x3,y3,z3
  • etc.
If you want distances instead of coordinates, just calculate them, e.g.: d1=sqrt(x1*x1+y1*y1+z1*z1)
You can calculate the angle between individual points with: scanAngle/(totalPointsPerScan-1)

As for now, you cannot switch to a fullscreen mode, but there might be this feature in next release (V3.0.5), to be released within 2-3 weeks.

Cheers

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