Laser viewer.cpp

From HotDec

Pseudo-Code Description

OpenGL file. See OpenGL A Primer. Main functions to worry about:

recvFunction() {

  Set a timeout struct for 200000 us
  Configure the UDP connection
  Block on network port for UDP packets or until timeout
  If packet arrived
     Store packet data
     Call glutPostRedisplay()  (This will redraw the graphical elements)

}

redraw() {

  Draw shape of room for comparison
  Draw occupancy map to see progression of data
  Calculate the weighted sum or mean particle from the particle data
  Draw all particles
  Draw laser scan points
  Draw Hovercraft at pose of mean particle
  

}