Update of /cvsroot/playerstage/code/player/server/drivers/position/nd
In directory
sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv1338/server/drivers/position/nd
Modified Files:
nd_plugin.cc
Log Message:
applied patch 1749747 to transition to 3d pose structures
Index: nd_plugin.cc
===================================================================
RCS file:
/cvsroot/playerstage/code/player/server/drivers/position/nd/nd_plugin.cc,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** nd_plugin.cc 30 Apr 2007 21:09:41 -0000 1.1
--- nd_plugin.cc 9 Jul 2007 17:18:02 -0000 1.2
***************
*** 192,199 ****
bool active_goal;
int dir;
! player_pose_t goal;
! player_pose_t last_odom_pose;
! player_pose_t odom_pose;
! player_pose_t odom_vel;
bool odom_stall;
int current_dir;
--- 192,199 ----
bool active_goal;
int dir;
! player_pose2d_t goal;
! player_pose2d_t last_odom_pose;
! player_pose2d_t odom_pose;
! player_pose2d_t odom_vel;
bool odom_stall;
int current_dir;
***************
*** 261,265 ****
Device *laser;
player_devaddr_t laser_addr;
! player_pose_t laser_pose;
int laser_buffer;
--- 261,265 ----
Device *laser;
player_devaddr_t laser_addr;
! player_pose3d_t laser_pose;
int laser_buffer;
***************
*** 268,272 ****
player_devaddr_t sonar_addr;
int num_sonars;
! player_pose_t sonar_poses[PLAYER_SONAR_MAX_SAMPLES];
// indices of known bad sonars
int bad_sonars[PLAYER_SONAR_MAX_SAMPLES];
--- 268,272 ----
player_devaddr_t sonar_addr;
int num_sonars;
! player_pose3d_t sonar_poses[PLAYER_SONAR_MAX_SAMPLES];
// indices of known bad sonars
int bad_sonars[PLAYER_SONAR_MAX_SAMPLES];
***************
*** 474,484 ****
this->robot_geom.pose.px,
this->robot_geom.pose.py,
! RTOD(this->robot_geom.pose.pa));
delete msg;
! memset(&this->odom_pose, 0, sizeof(player_pose_t));
! memset(&this->odom_vel, 0, sizeof(player_pose_t));
this->odom_stall = false;
--- 474,484 ----
this->robot_geom.pose.px,
this->robot_geom.pose.py,
! RTOD(this->robot_geom.pose.pyaw));
delete msg;
! memset(&this->odom_pose, 0, sizeof(this->odom_pose));
! memset(&this->odom_vel, 0, sizeof(this->odom_vel));
this->odom_stall = false;
***************
*** 707,715 ****
// convert to the robot's frame
rx = (this->laser_pose.px +
! x * cos(this->laser_pose.pa) -
! y * sin(this->laser_pose.pa));
ry = (this->laser_pose.py +
! x * sin(this->laser_pose.pa) +
! y * cos(this->laser_pose.pa));
// convert to the odometric frame and add to the obstacle list
--- 707,715 ----
// convert to the robot's frame
rx = (this->laser_pose.px +
! x * cos(this->laser_pose.pyaw) -
! y * sin(this->laser_pose.pyaw));
ry = (this->laser_pose.py +
! x * sin(this->laser_pose.pyaw) +
! y * cos(this->laser_pose.pyaw));
// convert to the odometric frame and add to the obstacle list
***************
*** 768,776 ****
// convert to the robot's frame
rx = (this->sonar_poses[i].px +
! x * cos(this->sonar_poses[i].pa) -
! y * sin(this->sonar_poses[i].pa));
ry = (this->sonar_poses[i].py +
! x * sin(this->sonar_poses[i].pa) +
! y * cos(this->sonar_poses[i].pa));
// convert to the odometric frame and add to the obstacle list
--- 768,776 ----
// convert to the robot's frame
rx = (this->sonar_poses[i].px +
! x * cos(this->sonar_poses[i].pyaw) -
! y * sin(this->sonar_poses[i].pyaw));
ry = (this->sonar_poses[i].py +
! x * sin(this->sonar_poses[i].pyaw) +
! y * cos(this->sonar_poses[i].pyaw));
// convert to the odometric frame and add to the obstacle list
-------------------------------------------------------------------------
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