Update of /cvsroot/playerstage/code/player/client_libs/libplayerc++
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv5037
Modified Files:
Tag: release-2-0-patches
playerc++.h
Log Message:
added LaserProxy::GetRobotPose
Index: playerc++.h
===================================================================
RCS file:
/cvsroot/playerstage/code/player/client_libs/libplayerc++/playerc++.h,v
retrieving revision 1.54.2.7
retrieving revision 1.54.2.8
diff -C2 -d -r1.54.2.7 -r1.54.2.8
*** playerc++.h 3 Oct 2006 17:31:53 -0000 1.54.2.7
--- playerc++.h 13 Feb 2007 02:14:04 -0000 1.54.2.8
***************
*** 970,974 ****
void RequestGeom();
! /// Accessor for the pose (fill it in by calling RequestGeom)
player_pose_t GetPose()
{
--- 970,975 ----
void RequestGeom();
! /// Accessor for the pose of the laser with respect to its parent
! /// object (e.g., a robot). Fill it in by calling RequestGeom.
player_pose_t GetPose()
{
***************
*** 981,984 ****
--- 982,998 ----
return(p);
}
+
+ /// Accessor for the pose of the laser's parent object (e.g., a robot).
+ /// Filled in by some (but not all) laser data messages.
+ player_pose_t GetRobotPose()
+ {
+ player_pose_t p;
+ scoped_lock_t lock(mPc->mMutex);
+
+ p.px = mDevice->robot_pose[0];
+ p.py = mDevice->robot_pose[1];
+ p.pa = mDevice->robot_pose[2];
+ return(p);
+ }
/// Accessor for the size (fill it in by calling RequestGeom)
-------------------------------------------------------------------------
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