[Rock-dev] log file converter / updating frame.h SonarScan

[Alexander Duda]

Hi

currently there is no generic way to update log files after a type was
modified. Therefore I started to write a ruby library which supports the
update process.

To embed this library into rock I am planing to do the following:

--> create a new package tools/pos_proc.rb  (pos_proc = post processing)

--> add the converter library to pos_proc.rb (name space
PosProc::LogFile::Converter

--> add the package to the package set rock.toolchain 

--> add a script rock-convert to base/scripts/bin which can be used to
update base types (rock-convert logfile.0.log)

--> add conversions rules for base
to /base/orogen/types/lib/base/immigrate 

--> add documentation to rock-robotic.org

--> change base type SonarScan to SonarBeam (see wiki)

--> Update frame.h (see wiki)

Thoughts?

Example Code for updating SonarScan (micron):
time = Time.utc 2011,9,19
Converter::register "sonar scan to sonar beam", time,Orocos.registry do
    conversion "/base/samples/SonarScan","/base/samples/SonarBeam" do |
dst,src|
        deep_cast(dst.beam,src.scanData)
        dst.time = src.time
        dst.bearing = src.angle - Math::PI
        dst.sampling_interval = src.time_beetween_bins
        dst.beamwidth_vertical = 35/180* Math::PI 
        dst.beamwidth_horizontal = 3/180* Math::PI 
        dst.speed_of_sound = 1500
    end
end

Alex


-- 
Dipl.-Ing. Alexander Duda 
Unterwasserrobotik

DFKI Bremen
Robotics Innovation Center
Robert-Hooke-Straße 5
28359 Bremen, Germany

Phone: +49 (0)421 178-456620
Fax:   +49 (0)421 178-454150
E-Mail: alexander.duda at dfki.de

Weitere Informationen: http://www.dfki.de/robotik
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