Update of /cvsroot/playerstage/code/player/server/drivers/localization/amcl
In directory
sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv1684/drivers/localization/amcl
Modified Files:
amcl.cc amcl.h
Log Message:
fixed position update bug in amcl
Index: amcl.cc
===================================================================
RCS file:
/cvsroot/playerstage/code/player/server/drivers/localization/amcl/amcl.cc,v
retrieving revision 1.75
retrieving revision 1.76
diff -C2 -d -r1.75 -r1.76
*** amcl.cc 7 Jun 2006 16:20:02 -0000 1.75
--- amcl.cc 19 Jan 2007 22:34:09 -0000 1.76
***************
*** 883,887 ****
usleep(1000);
ProcessMessages();
! UpdateSensorData();
continue;
}
--- 883,887 ----
usleep(1000);
ProcessMessages();
! //UpdateSensorData();
continue;
}
***************
*** 952,956 ****
// Encode data to send to server
this->PutDataLocalize(ts);
! this->PutDataPosition(delta);
return true;
--- 952,957 ----
// Encode data to send to server
this->PutDataLocalize(ts);
! delta = pf_vector_zero();
! this->PutDataPosition(delta,ts);
return true;
***************
*** 973,977 ****
// Encode data to send to server; only the position interface
// gets updated every cycle
! this->PutDataPosition(delta);
return false;
--- 974,978 ----
// Encode data to send to server; only the position interface
// gets updated every cycle
! this->PutDataPosition(delta,ts);
return false;
***************
*** 1056,1060 ****
PLAYER_MSGTYPE_DATA,
PLAYER_LOCALIZE_DATA_HYPOTHS,
! (void*)&data,datalen,NULL);
}
--- 1057,1061 ----
PLAYER_MSGTYPE_DATA,
PLAYER_LOCALIZE_DATA_HYPOTHS,
! (void*)&data,datalen,&time);
}
***************
*** 1062,1066 ****
////////////////////////////////////////////////////////////////////////////////
// Output data on the position interface
! void AdaptiveMCL::PutDataPosition(pf_vector_t delta)
{
pf_vector_t pose;
--- 1063,1067 ----
////////////////////////////////////////////////////////////////////////////////
// Output data on the position interface
! void AdaptiveMCL::PutDataPosition(pf_vector_t delta, double time)
{
pf_vector_t pose;
***************
*** 1085,1089 ****
PLAYER_MSGTYPE_DATA,
PLAYER_POSITION2D_DATA_STATE,
! (void*)&data,sizeof(data),NULL);
}
--- 1086,1090 ----
PLAYER_MSGTYPE_DATA,
PLAYER_POSITION2D_DATA_STATE,
! (void*)&data,sizeof(data),&time);
}
Index: amcl.h
===================================================================
RCS file:
/cvsroot/playerstage/code/player/server/drivers/localization/amcl/amcl.h,v
retrieving revision 1.15
retrieving revision 1.16
diff -C2 -d -r1.15 -r1.16
*** amcl.h 7 Jun 2006 16:20:02 -0000 1.15
--- amcl.h 19 Jan 2007 22:34:09 -0000 1.16
***************
*** 126,130 ****
// Put new position data
! private: void PutDataPosition(pf_vector_t delta);
// Send back geometry data
--- 126,130 ----
// Put new position data
! private: void PutDataPosition(pf_vector_t delta, double time);
// Send back geometry data
-------------------------------------------------------------------------
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