Update of /cvsroot/playerstage/code/player/client_libs/libplayerc++
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv3379
Modified Files:
actarrayproxy.cc playerc++.h
Log Message:
Added support for actarray position and geometry information
Index: playerc++.h
===================================================================
RCS file:
/cvsroot/playerstage/code/player/client_libs/libplayerc++/playerc++.h,v
retrieving revision 1.65
retrieving revision 1.66
diff -C2 -d -r1.65 -r1.66
*** playerc++.h 18 Jun 2006 19:33:31 -0000 1.65
--- playerc++.h 22 Jun 2006 22:17:31 -0000 1.66
***************
*** 145,148 ****
--- 145,153 ----
/// Same again for getting actuator geometry
player_actarray_actuatorgeom_t GetActuatorGeom(uint aJoint) const;
+ /// Accessor method for getting the base position
+ player_point_3d_t GetBasePos(void) const { return
GetVar(mDevice->base_pos); }
+ /// Accessor method for getting the base orientation
+ player_orientation_3d_t GetBaseOrientation(void) const { return
GetVar(mDevice->base_orientation); }
+
/// Actuator data access operator.
Index: actarrayproxy.cc
===================================================================
RCS file:
/cvsroot/playerstage/code/player/client_libs/libplayerc++/actarrayproxy.cc,v
retrieving revision 1.7
retrieving revision 1.8
diff -C2 -d -r1.7 -r1.8
*** actarrayproxy.cc 8 Nov 2005 17:07:00 -0000 1.7
--- actarrayproxy.cc 22 Jun 2006 22:17:31 -0000 1.8
***************
*** 91,94 ****
--- 91,97 ----
os << ii << '\t'
<< (geom.type ? "Linear" : "Rotary") << '\t'
+ << geom.offset << '\t'
+ << "(" << geom.orientation.proll << ", " << geom.orientation.ppitch <<
", " << geom.orientation.pyaw << ")\t"
+ << "(" << geom.axis.px << ", " << geom.axis.py << ", " << geom.axis.pz
<< ")\t"
<< geom.min << '\t'
<< geom.centre << '\t'
***************
*** 102,105 ****
--- 105,110 ----
<< std::endl;
}
+ os << "(" << a.GetBasePos().px << ", " << a.GetBasePos().py << ", " <<
a.GetBasePos().pz << ")" << std::endl;
+ os << "(" << a.GetBaseOrientation().proll << ", " <<
a.GetBaseOrientation().ppitch << ", " << a.GetBaseOrientation().pyaw << ")" <<
std::endl;
os.precision(old_precision);
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