Update of /cvsroot/playerstage/code/player/server/drivers/mixed/rflex
In directory
sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv1338/server/drivers/mixed/rflex
Modified Files:
rflex.cc rflex_configs.h
Log Message:
applied patch 1749747 to transition to 3d pose structures
Index: rflex.cc
===================================================================
RCS file: /cvsroot/playerstage/code/player/server/drivers/mixed/rflex/rflex.cc,v
retrieving revision 1.35
retrieving revision 1.36
diff -C2 -d -r1.35 -r1.36
*** rflex.cc 30 May 2006 22:57:52 -0000 1.35
--- rflex.cc 9 Jul 2007 17:18:01 -0000 1.36
***************
*** 498,505 ****
assert(hdr->size == 0);
! player_position2d_geom_t geom;
! geom.pose.px = 0;
! geom.pose.py = 0;
! geom.pose.pa = 0;
Lock();
geom.size.sl = rflex_configs.m_length;
--- 498,502 ----
assert(hdr->size == 0);
! player_position2d_geom_t geom={{0}};
Lock();
geom.size.sl = rflex_configs.m_length;
***************
*** 740,744 ****
rflex_configs.sonar_set_delay=
cf->ReadInt(section, "sonar_set_delay", 0);
! rflex_configs.mrad_sonar_poses=(player_pose_t *)
malloc(rflex_configs.num_sonars*sizeof(player_pose_t));
for(x=0;x<rflex_configs.num_sonars;x++)
{
--- 737,741 ----
rflex_configs.sonar_set_delay=
cf->ReadInt(section, "sonar_set_delay", 0);
! rflex_configs.mrad_sonar_poses=(player_pose3d_t *)
malloc(rflex_configs.num_sonars*sizeof(player_pose3d_t));
for(x=0;x<rflex_configs.num_sonars;x++)
{
***************
*** 747,751 ****
rflex_configs.mrad_sonar_poses[x].py=
cf->ReadTupleFloat(section, "mrad_sonar_poses",3*x+2,0.0);
! rflex_configs.mrad_sonar_poses[x].pa=
cf->ReadTupleFloat(section, "mrad_sonar_poses",3*x,0.0);
}
--- 744,748 ----
rflex_configs.mrad_sonar_poses[x].py=
cf->ReadTupleFloat(section, "mrad_sonar_poses",3*x+2,0.0);
! rflex_configs.mrad_sonar_poses[x].pyaw=
cf->ReadTupleFloat(section, "mrad_sonar_poses",3*x,0.0);
}
***************
*** 780,784 ****
rflex_configs.ir_poses.poses[i].px= cf->ReadTupleFloat(section,
"poses",i*3,0);
rflex_configs.ir_poses.poses[i].py= cf->ReadTupleFloat(section,
"poses",i*3+1,0);
! rflex_configs.ir_poses.poses[i].pa= cf->ReadTupleFloat(section,
"poses",i*3+2,0);
// Calibration parameters for ir in form range=(a*voltage)^b
--- 777,781 ----
rflex_configs.ir_poses.poses[i].px= cf->ReadTupleFloat(section,
"poses",i*3,0);
rflex_configs.ir_poses.poses[i].py= cf->ReadTupleFloat(section,
"poses",i*3+1,0);
! rflex_configs.ir_poses.poses[i].pyaw= cf->ReadTupleFloat(section,
"poses",i*3+2,0);
// Calibration parameters for ir in form range=(a*voltage)^b
***************
*** 795,799 ****
rflex_configs.bumper_def[x].pose.px = (cf->ReadTupleFloat(section,
"bumper_def",5*x,0)); //m
rflex_configs.bumper_def[x].pose.py = (cf->ReadTupleFloat(section,
"bumper_def",5*x+1,0)); //m
! rflex_configs.bumper_def[x].pose.pa = (cf->ReadTupleFloat(section,
"bumper_def",5*x+2,0)); //rad
rflex_configs.bumper_def[x].length = (cf->ReadTupleFloat(section,
"bumper_def",5*x+3,0)); //m
rflex_configs.bumper_def[x].radius = (cf->ReadTupleFloat(section,
"bumper_def",5*x+4,0)); //m
--- 792,796 ----
rflex_configs.bumper_def[x].pose.px = (cf->ReadTupleFloat(section,
"bumper_def",5*x,0)); //m
rflex_configs.bumper_def[x].pose.py = (cf->ReadTupleFloat(section,
"bumper_def",5*x+1,0)); //m
! rflex_configs.bumper_def[x].pose.pyaw = (cf->ReadTupleFloat(section,
"bumper_def",5*x+2,0)); //rad
rflex_configs.bumper_def[x].length = (cf->ReadTupleFloat(section,
"bumper_def",5*x+3,0)); //m
rflex_configs.bumper_def[x].radius = (cf->ReadTupleFloat(section,
"bumper_def",5*x+4,0)); //m
***************
*** 1076,1080 ****
/* Get data from robot */
static float LastYaw = 0;
! player_rflex_data_t rflex_data = {0};
Lock();
--- 1073,1077 ----
/* Get data from robot */
static float LastYaw = 0;
! player_rflex_data_t rflex_data = {{{0}}};
Lock();
***************
*** 1109,1116 ****
for (i = 0; i < rflex_configs.num_sonars -
rflex_configs.sonar_2nd_bank_start; i++)
{
! SonarRotate(rad_odo_theta,
rflex_configs.mrad_sonar_poses[i+rflex_configs.sonar_2nd_bank_start].px,rflex_configs.mrad_sonar_poses[i+rflex_configs.sonar_2nd_bank_start].py,rflex_configs.mrad_sonar_poses[i+rflex_configs.sonar_2nd_bank_start].pa,NewGeom,&NewGeom[1],&NewGeom[2]);
geom.poses[i].px = NewGeom[0];
geom.poses[i].py = NewGeom[1];
! geom.poses[i].pa = NewGeom[2];
}
Unlock();
--- 1106,1113 ----
for (i = 0; i < rflex_configs.num_sonars -
rflex_configs.sonar_2nd_bank_start; i++)
{
! SonarRotate(rad_odo_theta,
rflex_configs.mrad_sonar_poses[i+rflex_configs.sonar_2nd_bank_start].px,rflex_configs.mrad_sonar_poses[i+rflex_configs.sonar_2nd_bank_start].py,rflex_configs.mrad_sonar_poses[i+rflex_configs.sonar_2nd_bank_start].pyaw,NewGeom,&NewGeom[1],&NewGeom[2]);
geom.poses[i].px = NewGeom[0];
geom.poses[i].py = NewGeom[1];
! geom.poses[i].pyaw = NewGeom[2];
}
Unlock();
Index: rflex_configs.h
===================================================================
RCS file:
/cvsroot/playerstage/code/player/server/drivers/mixed/rflex/rflex_configs.h,v
retrieving revision 1.13
retrieving revision 1.14
diff -C2 -d -r1.13 -r1.14
*** rflex_configs.h 20 Jan 2006 01:12:56 -0000 1.13
--- rflex_configs.h 9 Jul 2007 17:18:01 -0000 1.14
***************
*** 71,75 ****
// pose of each sonar on the robot (x,y,t) in rad and mm
// note i is forwards, j is left
! player_pose_t *mrad_sonar_poses;
//not sure what these do yet actually
long sonar_echo_delay;
--- 71,75 ----
// pose of each sonar on the robot (x,y,t) in rad and mm
// note i is forwards, j is left
! player_pose3d_t *mrad_sonar_poses;
//not sure what these do yet actually
long sonar_echo_delay;
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