c++ - Player stage commands -

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i writing algorithm frontier based exploration in c++ using player stage simulation 2.0 , stuck on specific part. understanding laserproxy provides 180 degree scan of environment in front of robot. have loop iterates through 180 beams of robot, , analyzes each one.

for (int = 0; < lp->getcount(); i++) {

lp pointer laserproxy. checked reference manual laserproxy , getcount() suppose return number of points in scan. assumed 180 since thats how many beams being projected robot not case, getcount() 0, other times 90, , other values. can explain why so?

thank

this question requires @ code. implementing laser scanner in open-source robot simulator. what's easy cast rays , calculate intersection. lines not need intersect. hence, might understandable when not intersect there no point (of intersection) returned @ all. files have at:

$ grep -lr scan_count .  | grep drivers  ./server/drivers/laser/laserrescan.cc ./server/drivers/laser/sickldmrs.cc ./server/drivers/mixed/mricp/src/mricp_driver.cpp

the laserrescan file returns 181 points, sick laser doesn't, see code.


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