The Vulcan system defines some extra methods to manipulate laser rangefinders. These methods include:2.4
(get-current-rangefinder-points (robot <wheelchair-client>)) (get-current-laser-points (robot <wheelchair-client>) filter) "Returns the current (x,y) points associated with the laser data. The x-axis is to the rigth of the robot. The y-axis is in front of the robot. Units are in meters"The methods above return a list of (x y) points associated with the current rangefinder readings. The points returned by these methods are in a different system of coordinates that the one associated with the wheelchair: the system of coordinates are such that the x-axis is to the right of the robot, and the y-axis is ahead of the robot.