Update of /cvsroot/playerstage/code/player/server/drivers/laser
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv1338/server/drivers/laser
Modified Files:
laserposeinterpolator.cc sicklms200.cc sicklms400.cc
sickpls.cc sicks3000.cc urglaserdriver.cc
Log Message:
applied patch 1749747 to transition to 3d pose structures
Index: sicks3000.cc
===================================================================
RCS file: /cvsroot/playerstage/code/player/server/drivers/laser/sicks3000.cc,v
retrieving revision 1.2
retrieving revision 1.3
diff -C2 -d -r1.2 -r1.3
*** sicks3000.cc 28 Sep 2006 03:54:07 -0000 1.2
--- sicks3000.cc 9 Jul 2007 17:18:00 -0000 1.3
***************
*** 392,400 ****
}
player_laser_geom_t geom;
! geom.pose.px = this->pose[0];
! geom.pose.py = this->pose[1];
! geom.pose.pa = this->pose[2];
! geom.size.sl = this->size[0];
! geom.size.sw = this->size[1];
this->Publish(this->device_addr,
--- 392,401 ----
}
player_laser_geom_t geom;
! memset(&geom, 0, sizeof(geom));
! geom.pose.px = pose[0];
! geom.pose.py = pose[1];
! geom.pose.pyaw = pose[2];
! geom.size.sl = size[0];
! geom.size.sw = size[1];
this->Publish(this->device_addr,
Index: urglaserdriver.cc
===================================================================
RCS file:
/cvsroot/playerstage/code/player/server/drivers/laser/urglaserdriver.cc,v
retrieving revision 1.11
retrieving revision 1.12
diff -C2 -d -r1.11 -r1.12
*** urglaserdriver.cc 2 May 2007 22:18:13 -0000 1.11
--- urglaserdriver.cc 9 Jul 2007 17:18:00 -0000 1.12
***************
*** 169,173 ****
Geom.pose.px = (cf->ReadTupleLength (section, "pose", 0, 0));
Geom.pose.py = (cf->ReadTupleLength (section, "pose", 1, 0));
! Geom.pose.pa = (cf->ReadTupleAngle (section, "pose", 2, 0));
// set up config structure
--- 169,173 ----
Geom.pose.px = (cf->ReadTupleLength (section, "pose", 0, 0));
Geom.pose.py = (cf->ReadTupleLength (section, "pose", 1, 0));
! Geom.pose.pyaw = (cf->ReadTupleAngle (section, "pose", 2, 0));
// set up config structure
Index: sicklms200.cc
===================================================================
RCS file: /cvsroot/playerstage/code/player/server/drivers/laser/sicklms200.cc,v
retrieving revision 1.60
retrieving revision 1.61
diff -C2 -d -r1.60 -r1.61
*** sicklms200.cc 5 Oct 2006 20:05:03 -0000 1.60
--- sicklms200.cc 9 Jul 2007 17:17:59 -0000 1.61
***************
*** 630,636 ****
}
player_laser_geom_t geom;
geom.pose.px = this->pose[0];
geom.pose.py = this->pose[1];
! geom.pose.pa = this->pose[2];
geom.size.sl = this->size[0];
geom.size.sw = this->size[1];
--- 630,637 ----
}
player_laser_geom_t geom;
+ memset(&geom, 0, sizeof(geom));
geom.pose.px = this->pose[0];
geom.pose.py = this->pose[1];
! geom.pose.pyaw = this->pose[2];
geom.size.sl = this->size[0];
geom.size.sw = this->size[1];
Index: sicklms400.cc
===================================================================
RCS file: /cvsroot/playerstage/code/player/server/drivers/laser/sicklms400.cc,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** sicklms400.cc 13 Feb 2007 21:54:32 -0000 1.1
--- sicklms400.cc 9 Jul 2007 17:18:00 -0000 1.2
***************
*** 398,404 ****
{
player_laser_geom_t geom;
geom.pose.px = pose[0];
geom.pose.py = pose[1];
! geom.pose.pa = pose[2];
geom.size.sl = size[0];
geom.size.sw = size[1];
--- 398,405 ----
{
player_laser_geom_t geom;
+ memset(&geom, 0, sizeof(geom));
geom.pose.px = pose[0];
geom.pose.py = pose[1];
! geom.pose.pyaw = pose[2];
geom.size.sl = size[0];
geom.size.sw = size[1];
Index: laserposeinterpolator.cc
===================================================================
RCS file:
/cvsroot/playerstage/code/player/server/drivers/laser/laserposeinterpolator.cc,v
retrieving revision 1.13
retrieving revision 1.14
diff -C2 -d -r1.13 -r1.14
*** laserposeinterpolator.cc 3 Oct 2006 00:11:35 -0000 1.13
--- laserposeinterpolator.cc 9 Jul 2007 17:17:59 -0000 1.14
***************
*** 164,168 ****
player_position2d_data_t lastpose;
double lastposetime;
! player_pose_t lastpublishpose;
double lastpublishposetime;
double update_thresh[2];
--- 164,168 ----
player_position2d_data_t lastpose;
double lastposetime;
! player_pose2d_t lastpublishpose;
double lastpublishposetime;
double update_thresh[2];
***************
*** 300,306 ****
// Tag this scan with the last received pose and push it out
player_laser_data_scanpose_t scanpose;
! scanpose.pose.px = this->lastpose.pos.px;
! scanpose.pose.py = this->lastpose.pos.py;
! scanpose.pose.pa = this->lastpose.pos.pa;
scanpose.scan = *((player_laser_data_t*)data);
--- 300,304 ----
// Tag this scan with the last received pose and push it out
player_laser_data_scanpose_t scanpose;
! scanpose.pose = this->lastpose.pos;
scanpose.scan = *((player_laser_data_t*)data);
Index: sickpls.cc
===================================================================
RCS file: /cvsroot/playerstage/code/player/server/drivers/laser/sickpls.cc,v
retrieving revision 1.10
retrieving revision 1.11
diff -C2 -d -r1.10 -r1.11
*** sickpls.cc 23 Feb 2006 00:29:55 -0000 1.10
--- sickpls.cc 9 Jul 2007 17:18:00 -0000 1.11
***************
*** 615,623 ****
{
player_laser_geom_t geom;
! geom.pose.px = this->pose[0];
! geom.pose.py = this->pose[1];
! geom.pose.pa = this->pose[2];
! geom.size.sl = this->size[0];
! geom.size.sw = this->size[1];
this->Publish(this->device_addr,
--- 615,624 ----
{
player_laser_geom_t geom;
! memset(&geom, 0, sizeof(geom));
! geom.pose.px = pose[0];
! geom.pose.py = pose[1];
! geom.pose.pyaw = pose[2];
! geom.size.sl = size[0];
! geom.size.sw = size[1];
this->Publish(this->device_addr,
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