convert_xy.c

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#include "urg_sensor.h"
#include "urg_utils.h"
#include <stdio.h>
#include <math.h>

int main(void)
{
urg_t urg;
long *length_data = NULL;
int length_data_size;
int i;
// �����f�[�^�� X-Y ���W�n�ɕϊ����ĕ\������

length_data_size = urg_get_distance(&urg, length_data, NULL);
for (i = 0; i < length_data_size; ++i) {
    // ���̋����f�[�^�̃��W�A���p�x�����߁AX, Y �̍��W�l���v�Z����
    double radian;
    long length;
    long x;
    long y;

    radian = urg_index2rad(&urg, i);
    length = length_data[i];
    // \todo check length is valid

    x = (long)(length * cos(radian));
    y = (long)(length * sin(radian));
    printf("(%ld, %ld), ", x, y);
}
printf("\n");
return 0;
}