Hello everyone,
I've submit a new patch (2886830) that adds a new option to the
fiducial finder. I did this to get around the fact that a fiducial
finder on a tall robot scans right over top of a short robot.
Summary of changes:
Adds a new flag to the fiducial finder, ignore_fiducial_zloc. By
default this is turned off and the fiducial finder works as it always
has.
The default behaviour of the fiducial finder results in a short robot
being undetectable by the fiducial finder on a taller robot. This is
because the ray traced out from the taller robot passes over top of
the shorter robot.
With the ignore_fiducial_zloc option set to 1, a taller robot will now
detect a shorter robot. This is accomplished by adjusting the code so
that a hit is detected even if the fiducial is lower than the finder's
ray.
--
Tyler Gunn, University of Manitoba
tyler@...
http://aalab.cs.umanitoba.ca/------------------------------------------------------------------------------
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