plot test laser scan data and human

hanp_laser_filter_plot.jl

using Gadfly
using Cairo

# generate scan data
angle_min = -1.5;
angle_max = 1.5;
angle_increment = 0.1;
ranges = [5.0, 5.0, 4.5, 4.0, 3.5, 3.0, 3.5, 4.0, 4.5, 5.0, 5.0, 5.0, 5.0, 5.0, 5.0, 5.0, 5.0, 5.0, 5.0, 5.0, 5.0, 5.0, 4.5, 4.0, 3.5, 3.0, 3.5, 4.0, 4.5, 5.0]
# put a human
human = [1.5, 2.5]
human_radius = 0.25

# generate plot data
rangex = Array(Float64, 0)
rangey = Array(Float64, 0)
for i = 1 : length(ranges)
    angle = angle_min + (i -1) * angle_increment
    push!(rangex, ranges[i] * cos(angle))
    push!(rangey, ranges[i] * sin(angle))
end

humanx = Array(Float64, 0)
humany = Array(Float64, 0)
for i = linrange(-π, π, 20)
    push!(humanx, human[2] + human_radius * cos(i))
    push!(humany, human[1] + human_radius * sin(i))
end

# draw plot
draw(SVGJS("laser-filter-plot.svg", 40cm, 20cm), plot(
    layer(x=rangey, y=rangex, Geom.path(), Geom.point),
    layer(x=humanx, y=humany, Geom.path(), Theme(default_color=color("red")))))

laser-filter-plot.svg