<font color='black' size='2' face='arial'>Miral,<br>
<br>
It appears <font size="2">that the<font face="Arial, Helvetica, sans-serif"> distance_field package included in the debian cturtle install for ubuntu has an outdated version of distance_field.h,<br>
as my visualization method doesn't include the btTransform argument. I will be deleting my cturtle installation and downloading<br>
from the SVN instead to see if that will work.<br>
<br>
Matt Klingensmith<br>
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<div style="font-family: arial,helvetica; font-size: 10pt; color: black;">-----Original Message-----<br>
From: Mrinal Kalakrishnan <mail@mrinal.net><br>
To: User discussions <ros-users@code.ros.org><br>
Sent: Mon, Nov 22, 2010 12:50 am<br>
Subject: Re: [ros-users] PropagationDistanceField usage?<br>
<br>
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<pre style="font-size: 9pt;"><tt>Hi Matthew,<br>
<br>
On Sun, Nov 21, 2010 at 8:28 PM, Matthew Jacob Klingensmith<br>
<<a __removedlink__1175763095__href="mailto:matthewk1989@aol.com">matthewk1989@aol.com</a>> wrote:<br>
> I should expect to get a distance field which has a line of zeroes along<br>
> the y axis, with increasing distances from there. However, the distance<br>
> field I actually get has a line of zeroes along a line roughly where y=0,<br>
> and both x and z are set to what should be y.<br>
<br>
I'm not sure how you're calling the visualization function. I just<br>
wrote a test similar to what you described and it seems to work<br>
correctly. The visualize function publishes markers for points that<br>
are in between a min and max distance field value. The way I would use<br>
it is to set the min and max close to each other, so that you see an<br>
iso-surface of points that are a certain distance away.<br>
<br>
I'm including a test that you can try by putting it into<br>
test/test_distance_field.cpp (or use within your program). It<br>
publishes an animation of iso-surfaces of increasing distances from<br>
the y axis. I tested this on all three axes and got the intended<br>
results. Let me know if you have further troubles.<br>
<br>
Hope this helps,<br>
Mrinal<br>
<br>
TEST(TestPropDistanceField, VisualizeAxes)<br>
{<br>
PropagationDistanceField df(5.0,5.0,5.0,0.05,-2.5,-2.5,-2.5,10.0);<br>
df.reset();<br>
<br>
ros::Duration(2.0).sleep(); // hack: wait for rviz to subscribe<br>
<br>
std::vector<btVector3> points;<br>
for (double y=-2.5; y<2.5; y+=0.05)<br>
{<br>
points.push_back(btVector3(0.0,y,0.0));<br>
}<br>
<br>
df.addPointsToField(points);<br>
<br>
btTransform cur = btTransform::getIdentity();<br>
for (double d=0.00; d<2.5; d+=0.05)<br>
{<br>
df.visualize(d, d+0.04, "/BASE", cur, ros::Time::now());<br>
ros::Duration(0.1).sleep();<br>
}<br>
}<br>
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</tt></pre>
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