Update of /cvsroot/playerstage/code/player/server/drivers/mixed/p2os
In directory
sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv1338/server/drivers/mixed/p2os
Modified Files:
p2os.cc
Log Message:
applied patch 1749747 to transition to 3d pose structures
Index: p2os.cc
===================================================================
RCS file: /cvsroot/playerstage/code/player/server/drivers/mixed/p2os/p2os.cc,v
retrieving revision 1.80
retrieving revision 1.81
diff -C2 -d -r1.80 -r1.81
*** p2os.cc 20 Mar 2007 07:30:42 -0000 1.80
--- p2os.cc 9 Jul 2007 17:18:01 -0000 1.81
***************
*** 2194,2198 ****
geom.pose.px = -0.1;
geom.pose.py = 0.0;
! geom.pose.pa = 0.0;
// get dimensions from the parameter table
geom.size.sl = PlayerRobotParams[param_idx].RobotLength / 1e3;
--- 2194,2198 ----
geom.pose.px = -0.1;
geom.pose.py = 0.0;
! geom.pose.pyaw = 0.0;
// get dimensions from the parameter table
geom.size.sl = PlayerRobotParams[param_idx].RobotLength / 1e3;
***************
*** 2270,2274 ****
geom.poses[i].px = pose.x / 1e3;
geom.poses[i].py = pose.y / 1e3;
! geom.poses[i].pa = DTOR(pose.th);
}
--- 2270,2274 ----
geom.poses[i].px = pose.x / 1e3;
geom.poses[i].py = pose.y / 1e3;
! geom.poses[i].pyaw = DTOR(pose.th);
}
***************
*** 2479,2483 ****
geom.bumper_def[ii].pose.px = def.x;
geom.bumper_def[ii].pose.py = def.y;
! geom.bumper_def[ii].pose.pa = DTOR(def.th);
geom.bumper_def[ii].length = def.length;
geom.bumper_def[ii].radius = def.radius;
--- 2479,2483 ----
geom.bumper_def[ii].pose.px = def.x;
geom.bumper_def[ii].pose.py = def.y;
! geom.bumper_def[ii].pose.pyaw = DTOR(def.th);
geom.bumper_def[ii].length = def.length;
geom.bumper_def[ii].radius = def.radius;
***************
*** 2785,2789 ****
player_actarray_multi_position_cmd_t cmd =
*(player_actarray_multi_position_cmd_t*) data;
player_actarray_position_cmd_t singleCmd;
! for (int ii = 0; ii < cmd.positions_count && ii < 6; ii++)
{
singleCmd.joint = ii;
--- 2785,2789 ----
player_actarray_multi_position_cmd_t cmd =
*(player_actarray_multi_position_cmd_t*) data;
player_actarray_position_cmd_t singleCmd;
! for (unsigned int ii = 0; ii < cmd.positions_count && ii < 6; ii++)
{
singleCmd.joint = ii;
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