Update of /cvsroot/playerstage/code/player/client_libs/libplayerc
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv2619
Modified Files:
playerc.h dev_actarray.c
Log Message:
Added support for geometry of actuators (position, orientation)
Index: dev_actarray.c
===================================================================
RCS file:
/cvsroot/playerstage/code/player/client_libs/libplayerc/dev_actarray.c,v
retrieving revision 1.6
retrieving revision 1.7
diff -C2 -d -r1.6 -r1.7
*** dev_actarray.c 24 Feb 2006 02:41:17 -0000 1.6
--- dev_actarray.c 22 Jun 2006 22:16:27 -0000 1.7
***************
*** 116,119 ****
--- 116,126 ----
{
device->actuators_geom[ii].type = geom.actuators[ii].type;
+ device->actuators_geom[ii].offset = geom.actuators[ii].offset;
+ device->actuators_geom[ii].orientation.proll =
geom.actuators[ii].orientation.proll;
+ device->actuators_geom[ii].orientation.ppitch =
geom.actuators[ii].orientation.ppitch;
+ device->actuators_geom[ii].orientation.pyaw =
geom.actuators[ii].orientation.pyaw;
+ device->actuators_geom[ii].axis.px = geom.actuators[ii].axis.px;
+ device->actuators_geom[ii].axis.py = geom.actuators[ii].axis.py;
+ device->actuators_geom[ii].axis.pz = geom.actuators[ii].axis.pz;
device->actuators_geom[ii].min = geom.actuators[ii].min;
device->actuators_geom[ii].centre = geom.actuators[ii].centre;
***************
*** 123,126 ****
--- 130,135 ----
device->actuators_geom[ii].hasbrakes = geom.actuators[ii].hasbrakes;
}
+ device->base_pos = geom.base_pos;
+ device->base_orientation = geom.base_orientation;
return 0;
}
Index: playerc.h
===================================================================
RCS file: /cvsroot/playerstage/code/player/client_libs/libplayerc/playerc.h,v
retrieving revision 1.199
retrieving revision 1.200
diff -C2 -d -r1.199 -r1.200
*** playerc.h 18 Jun 2006 19:33:22 -0000 1.199
--- playerc.h 22 Jun 2006 22:16:27 -0000 1.200
***************
*** 861,864 ****
--- 861,868 ----
player_actarray_actuator_t actuators_data[PLAYER_ACTARRAY_NUM_ACTUATORS];
player_actarray_actuatorgeom_t
actuators_geom[PLAYER_ACTARRAY_NUM_ACTUATORS];
+ /** The position of the base of the actarray. */
+ player_point_3d_t base_pos;
+ /** The orientation of the base of the actarray. */
+ player_orientation_3d_t base_orientation;
} playerc_actarray_t;
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