Update of /cvsroot/playerstage/code/player/server/drivers/mixed/p2os
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv5758
Modified Files:
p2os.cc
Log Message:
Fixed a bug with reporting limb y axis value in limb data packets
Index: p2os.cc
===================================================================
RCS file: /cvsroot/playerstage/code/player/server/drivers/mixed/p2os/p2os.cc,v
retrieving revision 1.69
retrieving revision 1.70
diff -C2 -d -r1.69 -r1.70
*** p2os.cc 22 Jun 2006 22:18:36 -0000 1.69
--- p2os.cc 26 Jun 2006 05:00:10 -0000 1.70
***************
*** 1571,1581 ****
kineCalc->CalculateFK (joints);
limb_data.position.px = kineCalc->GetP ().x + armOffsetX;
! limb_data.position.py = -kineCalc->GetP ().y + armOffsetY;
limb_data.position.pz = kineCalc->GetP ().z + armOffsetZ;
limb_data.approach.px = kineCalc->GetA ().x;
! limb_data.approach.py = -kineCalc->GetA ().y;
limb_data.approach.pz = kineCalc->GetA ().z;
limb_data.orientation.px = kineCalc->GetO ().x;
! limb_data.orientation.py = -kineCalc->GetO ().y;
limb_data.orientation.pz = kineCalc->GetO ().z;
if (limb_data.state != PLAYER_LIMB_STATE_OOR && limb_data.state !=
PLAYER_LIMB_STATE_COLL)
--- 1571,1581 ----
kineCalc->CalculateFK (joints);
limb_data.position.px = kineCalc->GetP ().x + armOffsetX;
! limb_data.position.py = kineCalc->GetP ().y + armOffsetY;
limb_data.position.pz = kineCalc->GetP ().z + armOffsetZ;
limb_data.approach.px = kineCalc->GetA ().x;
! limb_data.approach.py = kineCalc->GetA ().y;
limb_data.approach.pz = kineCalc->GetA ().z;
limb_data.orientation.px = kineCalc->GetO ().x;
! limb_data.orientation.py = kineCalc->GetO ().y;
limb_data.orientation.pz = kineCalc->GetO ().z;
if (limb_data.state != PLAYER_LIMB_STATE_OOR && limb_data.state !=
PLAYER_LIMB_STATE_COLL)
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