Update of /cvsroot/playerstage/code/player/server/drivers/mixed/irobot/roomba
In directory
sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv1338/server/drivers/mixed/irobot/roomba
Modified Files:
roomba_driver.cc
Log Message:
applied patch 1749747 to transition to 3d pose structures
Index: roomba_driver.cc
===================================================================
RCS file:
/cvsroot/playerstage/code/player/server/drivers/mixed/irobot/roomba/roomba_driver.cc,v
retrieving revision 1.13
retrieving revision 1.14
diff -C2 -d -r1.13 -r1.14
*** roomba_driver.cc 17 Oct 2006 23:10:16 -0000 1.13
--- roomba_driver.cc 9 Jul 2007 17:18:00 -0000 1.14
***************
*** 432,440 ****
{
/* Return the robot geometry. */
! player_position2d_geom_t geom;
! // Assume that it turns about its geometric center
! geom.pose.px = 0.0;
! geom.pose.py = 0.0;
! geom.pose.pa = 0.0;
geom.size.sl = ROOMBA_DIAMETER;
--- 432,437 ----
{
/* Return the robot geometry. */
! player_position2d_geom_t geom={{0}};
! // Assume that it turns about its geometric center, so zeros are fine
geom.size.sl = ROOMBA_DIAMETER;
***************
*** 457,461 ****
geom.bumper_def[0].pose.px = 0.0;
geom.bumper_def[0].pose.py = 0.0;
! geom.bumper_def[0].pose.pa = 0.0;
geom.bumper_def[0].length = 0.0;
geom.bumper_def[0].radius = ROOMBA_DIAMETER/2.0;
--- 454,458 ----
geom.bumper_def[0].pose.px = 0.0;
geom.bumper_def[0].pose.py = 0.0;
! geom.bumper_def[0].pose.pyaw = 0.0;
geom.bumper_def[0].length = 0.0;
geom.bumper_def[0].radius = ROOMBA_DIAMETER/2.0;
***************
*** 463,467 ****
geom.bumper_def[1].pose.px = 0.0;
geom.bumper_def[1].pose.py = 0.0;
! geom.bumper_def[1].pose.pa = 0.0;
geom.bumper_def[1].length = 0.0;
geom.bumper_def[1].radius = ROOMBA_DIAMETER/2.0;
--- 460,464 ----
geom.bumper_def[1].pose.px = 0.0;
geom.bumper_def[1].pose.py = 0.0;
! geom.bumper_def[1].pose.pyaw = 0.0;
geom.bumper_def[1].length = 0.0;
geom.bumper_def[1].radius = ROOMBA_DIAMETER/2.0;
***************
*** 487,491 ****
poses.poses[i].px = 0.0;
poses.poses[i].py = 0.0;
! poses.poses[i].pa = 0.0;
}
--- 484,488 ----
poses.poses[i].px = 0.0;
poses.poses[i].py = 0.0;
! poses.poses[i].pyaw = 0.0;
}
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