Update of /cvsroot/playerstage/code/player/server/drivers/mixed/p2os
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv4135
Modified Files:
p2os.cc p2os.h
Log Message:
Made actarray geometry make more sense
Index: p2os.h
===================================================================
RCS file: /cvsroot/playerstage/code/player/server/drivers/mixed/p2os/p2os.h,v
retrieving revision 1.31
retrieving revision 1.32
diff -C2 -d -r1.31 -r1.32
*** p2os.h 22 Jun 2006 22:18:36 -0000 1.31
--- p2os.h 8 Jul 2006 04:24:42 -0000 1.32
***************
*** 227,231 ****
/////////////////
// Actarray stuff
! double aaOffsets[6];
double aaOrients[18];
double aaAxes[18];
--- 227,231 ----
/////////////////
// Actarray stuff
! double aaLengths[6];
double aaOrients[18];
double aaAxes[18];
Index: p2os.cc
===================================================================
RCS file: /cvsroot/playerstage/code/player/server/drivers/mixed/p2os/p2os.cc,v
retrieving revision 1.72
retrieving revision 1.73
diff -C2 -d -r1.72 -r1.73
*** p2os.cc 8 Jul 2006 03:03:58 -0000 1.72
--- p2os.cc 8 Jul 2006 04:24:42 -0000 1.73
***************
*** 240,247 ****
- Orientation of the base of the arm from the robot centre in radians.
- aa_offsets (6 floats)
! - Default: (0, 0.06875, 0.16, 0, 0.13775, 0.11321)
! - Offsets for the actarray. Taken from previous actuator to current
actuator
! (first should be from the actarray's base position). Each offset is a
! straight line, not measured per axis.
- aa_orients (3x6 floats)
- Default: all zero
--- 240,246 ----
- Orientation of the base of the arm from the robot centre in radians.
- aa_offsets (6 floats)
! - Default: (0.06875, 0.16, 0, 0.13775, 0.11321, 0)
! - Offsets for the actarray. Taken from current actuator to next actuator.
! Each offset is a straight line, not measured per axis.
- aa_orients (3x6 floats)
- Default: all zero
***************
*** 536,545 ****
// Actarray configuration
// Offsets
! aaOffsets[0] = cf->ReadTupleFloat(section, "aa_offsets", 0, 0.0f);
! aaOffsets[1] = cf->ReadTupleFloat(section, "aa_offsets", 1, 0.06875f);
! aaOffsets[2] = cf->ReadTupleFloat(section, "aa_offsets", 2, 0.16f);
! aaOffsets[3] = cf->ReadTupleFloat(section, "aa_offsets", 3, 0.0925f);
! aaOffsets[4] = cf->ReadTupleFloat(section, "aa_offsets", 4, 0.05f);
! aaOffsets[5] = cf->ReadTupleFloat(section, "aa_offsets", 5, 0.085f);
// Orientations default: all zeros
for (int ii = 0; ii < 18; ii++)
--- 535,544 ----
// Actarray configuration
// Offsets
! aaLengths[0] = cf->ReadTupleFloat(section, "aa_offsets", 1, 0.06875f);
! aaLengths[1] = cf->ReadTupleFloat(section, "aa_offsets", 2, 0.16f);
! aaLengths[2] = cf->ReadTupleFloat(section, "aa_offsets", 3, 0.0925f);
! aaLengths[3] = cf->ReadTupleFloat(section, "aa_offsets", 4, 0.05f);
! aaLengths[4] = cf->ReadTupleFloat(section, "aa_offsets", 5, 0.085f);
! aaLengths[5] = cf->ReadTupleFloat(section, "aa_offsets", 0, 0.0f);
// Orientations default: all zeros
for (int ii = 0; ii < 18; ii++)
***************
*** 2244,2248 ****
{
aaGeom.actuators[ii].type = PLAYER_ACTARRAY_TYPE_ROTARY;
! aaGeom.actuators[ii].offset = aaOffsets[ii];
aaGeom.actuators[ii].orientation.proll = aaOrients[ii * 3];
aaGeom.actuators[ii].orientation.ppitch = aaOrients[ii * 3 + 1];
--- 2243,2247 ----
{
aaGeom.actuators[ii].type = PLAYER_ACTARRAY_TYPE_ROTARY;
! aaGeom.actuators[ii].length = aaLengths[ii];
aaGeom.actuators[ii].orientation.proll = aaOrients[ii * 3];
aaGeom.actuators[ii].orientation.ppitch = aaOrients[ii * 3 + 1];
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