"Applicazione di un laser range scanner a un robot mobile", 2010

{
if(bit == 9) // this is also a motor stall bit
{
}
bumpmask = bumpmask >> 1;
bit--;
continue;
//printf("\n\tComparing stallval=%s to bumpmask=%s... ", int_as_bitstring(stallval).c_str(),
int_as_bitstring(bumpmask).c_str());
}
if(cumulativeStallVal & bumpmask)
printf("%d ", bump);
bumpmask = bumpmask >> 1;
bump++;
// print pose of last bump sensor reading
const std::list* bumpsensed = bumpers.getCurrentBuffer();
if(bumpsensed)
{
//printf("%d readings. ", bumpsensed->size());
}
puts("");
if(bumpsensed->size() > 0 && bumpsensed->front()) {
}
printf("(%.0f,%.0f)", bumpsensed->front()->getX(), bumpsensed->front()->getY());
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