Update of /cvsroot/playerstage/code/player/server/drivers/mixed/wbr/914
In directory
sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv1338/server/drivers/mixed/wbr/914
Modified Files:
wbr914.cc
Log Message:
applied patch 1749747 to transition to 3d pose structures
Index: wbr914.cc
===================================================================
RCS file:
/cvsroot/playerstage/code/player/server/drivers/mixed/wbr/914/wbr914.cc,v
retrieving revision 1.6
retrieving revision 1.7
diff -C2 -d -r1.6 -r1.7
*** wbr914.cc 28 Nov 2006 20:14:25 -0000 1.6
--- wbr914.cc 9 Jul 2007 17:18:01 -0000 1.7
***************
*** 238,247 ****
// Set up the robot geometry
// X location in meters
! _robot2d_geom.pose.px = 0.0;
// Y location in meters
! _robot2d_geom.pose.py = 0.0;
// yaw in rads
! _robot2d_geom.pose.pa = 0.0;
// Width in meters
--- 238,248 ----
// Set up the robot geometry
+ memset(&_robot2d_geom, 0, sizeof(_robot2d_geom));
// X location in meters
! // _robot2d_geom.pose.px = 0.0;
// Y location in meters
! // _robot2d_geom.pose.py = 0.0;
// yaw in rads
! // _robot2d_geom.pose.pyaw = 0.0;
// Width in meters
***************
*** 249,263 ****
// Length in meters
_robot2d_geom.size.sl = 0.42;
! _robot3d_geom.pose.px = _robot2d_geom.pose.px;
! _robot3d_geom.pose.py = _robot2d_geom.pose.py;
! _robot3d_geom.pose.pz = 0.0;
! _robot3d_geom.pose.proll = 0.0;
! _robot3d_geom.pose.ppitch = 0.0;
! _robot3d_geom.pose.pyaw = _robot2d_geom.pose.pa;
_robot3d_geom.size.sw = _robot2d_geom.size.sw;
_robot3d_geom.size.sl = _robot2d_geom.size.sl;
! _robot3d_geom.size.sh = 0.3;
// Set up the IR array geometry
--- 250,262 ----
// Length in meters
_robot2d_geom.size.sl = 0.42;
+ _robot2d_geom.size.sh = 0.3;
! _robot3d_geom.pose = _robot2d_geom.pose;
! _robot3d_geom.size = _robot2d_geom.size;
+ /*
_robot3d_geom.size.sw = _robot2d_geom.size.sw;
_robot3d_geom.size.sl = _robot2d_geom.size.sl;
! _robot3d_geom.size.sh = 0.3;*/
// Set up the IR array geometry
***************
*** 266,286 ****
_ir_geom.poses[ 0 ].px = 0.030;
_ir_geom.poses[ 0 ].py = -0.190;
! _ir_geom.poses[ 0 ].pa = DTOR( -90 );
_ir_geom.poses[ 1 ].px = 0.190;
_ir_geom.poses[ 1 ].py = -0.090;
! _ir_geom.poses[ 1 ].pa = DTOR( -30 );
_ir_geom.poses[ 2 ].px = 0.210;
_ir_geom.poses[ 2 ].py = 0.0;
! _ir_geom.poses[ 2 ].pa = DTOR( 0 );
_ir_geom.poses[ 3 ].px = 0.190;
_ir_geom.poses[ 3 ].py = 0.090;
! _ir_geom.poses[ 3 ].pa = DTOR( 30 );
_ir_geom.poses[ 4 ].px = 0.030;
_ir_geom.poses[ 4 ].py = 0.190;
! _ir_geom.poses[ 4 ].pa = DTOR( 90 );
// These 3 sensor have a z value of 0.35m and a pitch of 30 degrees down
--- 265,285 ----
_ir_geom.poses[ 0 ].px = 0.030;
_ir_geom.poses[ 0 ].py = -0.190;
! _ir_geom.poses[ 0 ].pyaw = DTOR( -90 );
_ir_geom.poses[ 1 ].px = 0.190;
_ir_geom.poses[ 1 ].py = -0.090;
! _ir_geom.poses[ 1 ].pyaw = DTOR( -30 );
_ir_geom.poses[ 2 ].px = 0.210;
_ir_geom.poses[ 2 ].py = 0.0;
! _ir_geom.poses[ 2 ].pyaw = DTOR( 0 );
_ir_geom.poses[ 3 ].px = 0.190;
_ir_geom.poses[ 3 ].py = 0.090;
! _ir_geom.poses[ 3 ].pyaw = DTOR( 30 );
_ir_geom.poses[ 4 ].px = 0.030;
_ir_geom.poses[ 4 ].py = 0.190;
! _ir_geom.poses[ 4 ].pyaw = DTOR( 90 );
// These 3 sensor have a z value of 0.35m and a pitch of 30 degrees down
***************
*** 289,301 ****
_ir_geom.poses[ 5 ].px = 0.200;
_ir_geom.poses[ 5 ].py = -0.060;
! _ir_geom.poses[ 5 ].pa = DTOR( -60 );
_ir_geom.poses[ 6 ].px = 0.210;
_ir_geom.poses[ 6 ].py = 0.0;
! _ir_geom.poses[ 6 ].pa = DTOR( 0 );
_ir_geom.poses[ 7 ].px = 0.200;
_ir_geom.poses[ 7 ].py = 0.060;
! _ir_geom.poses[ 7 ].pa = DTOR( 60 );
}
--- 288,300 ----
_ir_geom.poses[ 5 ].px = 0.200;
_ir_geom.poses[ 5 ].py = -0.060;
! _ir_geom.poses[ 5 ].pyaw = DTOR( -60 );
_ir_geom.poses[ 6 ].px = 0.210;
_ir_geom.poses[ 6 ].py = 0.0;
! _ir_geom.poses[ 6 ].pyaw = DTOR( 0 );
_ir_geom.poses[ 7 ].px = 0.200;
_ir_geom.poses[ 7 ].py = 0.060;
! _ir_geom.poses[ 7 ].pyaw = DTOR( 60 );
}
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