Update of /cvsroot/playerstage/code/player/client_libs/libplayerc++
In directory
sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv9485/client_libs/libplayerc++
Modified Files:
Tag: release-2-0-patches
playerc++.h position1dproxy.cc position2dproxy.cc
position3dproxy.cc
Log Message:
merged many changes from HEAD
Index: position1dproxy.cc
===================================================================
RCS file:
/cvsroot/playerstage/code/player/client_libs/libplayerc++/position1dproxy.cc,v
retrieving revision 1.2
retrieving revision 1.2.2.1
diff -C2 -d -r1.2 -r1.2.2.1
*** position1dproxy.cc 9 Mar 2006 19:16:21 -0000 1.2
--- position1dproxy.cc 22 Sep 2006 23:58:34 -0000 1.2.2.1
***************
*** 83,90 ****
void
! Position1dProxy::GoTo(double aPos)
{
scoped_lock_t lock(mPc->mMutex);
! playerc_position1d_set_cmd_pos(mDevice,aPos,0);
}
--- 83,90 ----
void
! Position1dProxy::GoTo(double aPos, double aVel=0)
{
scoped_lock_t lock(mPc->mMutex);
! playerc_position1d_set_cmd_pos_with_vel(mDevice, aPos, aVel,0);
}
Index: position2dproxy.cc
===================================================================
RCS file:
/cvsroot/playerstage/code/player/client_libs/libplayerc++/position2dproxy.cc,v
retrieving revision 1.10
retrieving revision 1.10.2.1
diff -C2 -d -r1.10 -r1.10.2.1
*** position2dproxy.cc 14 Mar 2006 07:21:12 -0000 1.10
--- position2dproxy.cc 22 Sep 2006 23:58:34 -0000 1.10.2.1
***************
*** 84,94 ****
}
! void
! Position2dProxy::GoTo(double aX, double aY, double aYaw)
{
scoped_lock_t lock(mPc->mMutex);
! playerc_position2d_set_cmd_pose(mDevice,aX,aY,aYaw,1);
}
void
Position2dProxy::SetCarlike(double aXSpeed, double aDriveAngle)
--- 84,95 ----
}
!
! void Position2dProxy::GoTo(player_pose_t pos, player_pose_t vel)
{
scoped_lock_t lock(mPc->mMutex);
! playerc_position2d_set_cmd_pose_with_vel(mDevice,pos,vel,1);
}
+
void
Position2dProxy::SetCarlike(double aXSpeed, double aDriveAngle)
Index: playerc++.h
===================================================================
RCS file:
/cvsroot/playerstage/code/player/client_libs/libplayerc++/playerc++.h,v
retrieving revision 1.54.2.5
retrieving revision 1.54.2.6
diff -C2 -d -r1.54.2.5 -r1.54.2.6
*** playerc++.h 21 Sep 2006 05:23:03 -0000 1.54.2.5
--- playerc++.h 22 Sep 2006 23:58:34 -0000 1.54.2.6
***************
*** 1435,1439 ****
/// desired pose of the robot in [m] or [rad]
/// desired motion in [m/s] or [rad/s]
! void GoTo(double aPos);
/// Get the device's geometry; it is read into the
--- 1435,1439 ----
/// desired pose of the robot in [m] or [rad]
/// desired motion in [m/s] or [rad/s]
! void GoTo(double aPos, double aVel);
/// Get the device's geometry; it is read into the
***************
*** 1566,1571 ****
/// Send a motor command for position control mode. Specify the
! /// desired pose of the robot in m, m, radians.
! void GoTo(double aX, double aY, double aYaw);
/// Sets command for carlike robot
--- 1566,1581 ----
/// Send a motor command for position control mode. Specify the
! /// desired pose of the robot as a player_pose_t.
! /// desired motion speed as a player_pose_t.
! void GoTo(player_pose_t pos, player_pose_t vel);
!
! /// Same as the previous GoTo(), but doesn't take speed
! void GoTo(player_pose_t pos)
! {GoTo(pos,(player_pose_t) {0,0,0}); }
!
! /// Same as the previous GoTo(), but only takes position arguments,
! /// no motion speed setting
! void GoTo(double aX, double aY, double aYaw)
! {GoTo((player_pose_t) {aX,aY,aYaw},(player_pose_t) {0,0,0}); }
/// Sets command for carlike robot
***************
*** 1724,1730 ****
/// Send a motor command for position control mode. Specify the
! /// desired pose of the robot in m, m, m, rad, rad, rad.
void GoTo(double aX, double aY, double aZ,
! double aRoll, double aPitch, double aYaw);
/// Enable/disable the motors.
--- 1734,1753 ----
/// Send a motor command for position control mode. Specify the
! /// desired pose of the robot as a player_pose3d_t structure
! /// desired motion speed as a player_pose3d_t structure
! void GoTo(player_pose3d_t aPos, player_pose3d_t aVel);
!
! /// Same as the previous GoTo(), but does'n take vel argument
! void GoTo(player_pose3d_t aPos)
! { GoTo(aPos, (player_pose3d_t) {0,0,0,0,0,0}); }
!
!
! /// Same as the previous GoTo(), but only takes position arguments,
! /// no motion speed setting
void GoTo(double aX, double aY, double aZ,
! double aRoll, double aPitch, double aYaw)
! { GoTo((player_pose3d_t) {aX,aY,aZ,aRoll,aPitch,aYaw},
! (player_pose3d_t) {0,0,0,0,0,0});
! }
/// Enable/disable the motors.
Index: position3dproxy.cc
===================================================================
RCS file:
/cvsroot/playerstage/code/player/client_libs/libplayerc++/position3dproxy.cc,v
retrieving revision 1.5
retrieving revision 1.5.4.1
diff -C2 -d -r1.5 -r1.5.4.1
*** position3dproxy.cc 24 Oct 2005 09:02:40 -0000 1.5
--- position3dproxy.cc 22 Sep 2006 23:58:34 -0000 1.5.4.1
***************
*** 89,97 ****
void
! Position3dProxy::GoTo(double aX, double aY, double aZ,
! double aRoll, double aPitch, double aYaw)
{
scoped_lock_t lock(mPc->mMutex);
! playerc_position3d_set_pose(mDevice, aX, aY, aZ, aRoll, aPitch, aYaw);
}
--- 89,96 ----
void
! Position3dProxy::GoTo(player_pose3d_t aPos, player_pose3d_t aVel)
{
scoped_lock_t lock(mPc->mMutex);
! playerc_position3d_set_pose_with_vel(mDevice, aPos, aVel);
}
***************
*** 103,104 ****
--- 102,123 ----
}
+ void
+ Position3dProxy::SelectVelocityControl(int mode)
+ {
+ scoped_lock_t lock(mPc->mMutex);
+ playerc_position3d_set_vel_mode(mDevice, mode);
+ }
+
+ void Position3dProxy::SetOdometry(double aX, double aY, double aZ,
+ double aRoll, double aPitch, double aYaw)
+ {
+ scoped_lock_t lock(mPc->mMutex);
+ playerc_position3d_set_odom(mDevice, aX, aY, aZ, aRoll, aPitch, aYaw);
+ }
+
+ void Position3dProxy::ResetOdometry()
+ {
+ scoped_lock_t lock(mPc->mMutex);
+ playerc_position3d_reset_odom(mDevice);
+ }
+
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