Data acquisition
It is 2 dimensional array (x by 4) arranged as follows:
With i an index of measurement, generally between 0 and 700:
- urgdata[i][0]=> length
- urgdata[i][1]=> angle
- urgdata[i][2]=> x
- urgdata[i][3]=> y
| Data | Signification |
|---|---|
| Length | Distance between laser and obstacles |
| Angle | Computed value based on the index and urg device configuration |
| Length and Angle | Obstacle position in polar coordinates |
| X and Y | Obstacle coordinates in Cartesian space |
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