Update of /cvsroot/playerstage/code/player/libplayercore
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv1338/libplayercore
Modified Files:
player.h
Log Message:
applied patch 1749747 to transition to 3d pose structures
Index: player.h
===================================================================
RCS file: /cvsroot/playerstage/code/player/libplayercore/player.h,v
retrieving revision 1.133
retrieving revision 1.134
diff -C2 -d -r1.133 -r1.134
*** player.h 21 Jun 2007 04:01:10 -0000 1.133
--- player.h 9 Jul 2007 17:17:59 -0000 1.134
***************
*** 271,277 ****
{
/** X [m] */
! float px;
/** Y [m] */
! float py;
} player_point_2d_t;
--- 271,277 ----
{
/** X [m] */
! double px;
/** Y [m] */
! double py;
} player_point_2d_t;
***************
*** 281,289 ****
{
/** X [m] */
! float px;
/** Y [m] */
! float py;
/** Z [m] */
! float pz;
} player_point_3d_t;
--- 281,289 ----
{
/** X [m] */
! double px;
/** Y [m] */
! double py;
/** Z [m] */
! double pz;
} player_point_3d_t;
***************
*** 293,314 ****
{
/** roll [rad] */
! float proll;
/** pitch [rad] */
! float ppitch;
/** yaw [rad] */
! float pyaw;
} player_orientation_3d_t;
-
/** @brief A pose in the plane */
! typedef struct player_pose
{
/** X [m] */
! float px;
/** Y [m] */
! float py;
/** yaw [rad] */
! float pa;
! } player_pose_t;
/** @brief A pose in space */
--- 293,313 ----
{
/** roll [rad] */
! double proll;
/** pitch [rad] */
! double ppitch;
/** yaw [rad] */
! double pyaw;
} player_orientation_3d_t;
/** @brief A pose in the plane */
! typedef struct player_pose2d
{
/** X [m] */
! double px;
/** Y [m] */
! double py;
/** yaw [rad] */
! double pa;
! } player_pose2d_t;
/** @brief A pose in space */
***************
*** 316,340 ****
{
/** X [m] */
! float px;
/** Y [m] */
! float py;
/** Z [m] */
! float pz;
/** roll [rad] */
! float proll;
/** pitch [rad] */
! float ppitch;
/** yaw [rad] */
! float pyaw;
} player_pose3d_t;
/** @brief A rectangular bounding box, used to define the size of an object */
! typedef struct player_bbox
{
/** Width [m] */
! float sw;
/** Length [m] */
! float sl;
! } player_bbox_t;
/** @brief A rectangular bounding box, used to define the size of an object */
--- 315,339 ----
{
/** X [m] */
! double px;
/** Y [m] */
! double py;
/** Z [m] */
! double pz;
/** roll [rad] */
! double proll;
/** pitch [rad] */
! double ppitch;
/** yaw [rad] */
! double pyaw;
} player_pose3d_t;
/** @brief A rectangular bounding box, used to define the size of an object */
! typedef struct player_bbox2d
{
/** Width [m] */
! double sw;
/** Length [m] */
! double sl;
! } player_bbox2d_t;
/** @brief A rectangular bounding box, used to define the size of an object */
***************
*** 342,350 ****
{
/** Width [m] */
! float sw;
/** Length [m] */
! float sl;
/** Height [m] */
! float sh;
} player_bbox3d_t;
--- 341,349 ----
{
/** Width [m] */
! double sw;
/** Length [m] */
! double sl;
/** Height [m] */
! double sh;
} player_bbox3d_t;
***************
*** 353,363 ****
{
/** Endpoints [m] */
! float x0;
/** Endpoints [m] */
! float y0;
/** Endpoints [m] */
! float x1;
/** Endpoints [m] */
! float y1;
} player_segment_t;
--- 352,362 ----
{
/** Endpoints [m] */
! double x0;
/** Endpoints [m] */
! double y0;
/** Endpoints [m] */
! double x1;
/** Endpoints [m] */
! double y1;
} player_segment_t;
***************
*** 1441,1445 ****
{
/** the local pose of a single bumper */
! player_pose_t pose;
/** length of the sensor [m] */
float length;
--- 1440,1444 ----
{
/** the local pose of a single bumper */
! player_pose3d_t pose;
/** length of the sensor [m] */
float length;
***************
*** 1791,1799 ****
{
/** Pose of the detector in the robot cs */
! player_pose_t pose;
/** Size of the detector */
! player_bbox_t size;
! /** Dimensions of the fiducials in units of (m, m). */
! player_bbox_t fiducial_size;
} player_fiducial_geom_t;
--- 1790,1798 ----
{
/** Pose of the detector in the robot cs */
! player_pose3d_t pose;
/** Size of the detector */
! player_bbox3d_t size;
! /** Dimensions of the fiducials in units of (m). */
! player_bbox2d_t fiducial_size;
} player_fiducial_geom_t;
***************
*** 2403,2407 ****
uint32_t poses_count;
/** the pose of each IR detector on this robot */
! player_pose_t poses[PLAYER_IR_MAX_SAMPLES];
} player_ir_pose_t;
--- 2402,2406 ----
uint32_t poses_count;
/** the pose of each IR detector on this robot */
! player_pose3d_t poses[PLAYER_IR_MAX_SAMPLES];
} player_ir_pose_t;
***************
*** 2539,2543 ****
player_laser_data_t scan;
/** The global pose of the laser at the time the scan was acquired */
! player_pose_t pose;
} player_laser_data_scanpose_t;
--- 2538,2542 ----
player_laser_data_t scan;
/** The global pose of the laser at the time the scan was acquired */
! player_pose2d_t pose;
} player_laser_data_scanpose_t;
***************
*** 2548,2555 ****
typedef struct player_laser_geom
{
! /** Laser pose, in robot cs (m, m, rad). */
! player_pose_t pose;
! /** Laser dimensions (m, m). */
! player_bbox_t size;
} player_laser_geom_t;
--- 2547,2554 ----
typedef struct player_laser_geom
{
! /** Laser pose, in robot cs (m, m, m, rad, rad, rad). */
! player_pose3d_t pose;
! /** Laser dimensions (m, m, m). */
! player_bbox3d_t size;
} player_laser_geom_t;
***************
*** 2824,2828 ****
{
/** The mean value of the pose estimate (m, m, rad). */
! player_pose_t mean;
/** The covariance matrix pose estimate (m$^2$, rad$^2$). */
double cov[3];
--- 2823,2827 ----
{
/** The mean value of the pose estimate (m, m, rad). */
! player_pose2d_t mean;
/** The covariance matrix pose estimate (m$^2$, rad$^2$). */
double cov[3];
***************
*** 2854,2858 ****
{
/** The mean value of the pose estimate (m, m, rad). */
! player_pose_t mean;
/** The diagonal elements of the covariance matrix pose estimate
(m$^2$, rad$^2$). */
--- 2853,2857 ----
{
/** The mean value of the pose estimate (m, m, rad). */
! player_pose2d_t mean;
/** The diagonal elements of the covariance matrix pose estimate
(m$^2$, rad$^2$). */
***************
*** 2864,2868 ****
{
/** The particle's pose (m,m,rad) */
! player_pose_t pose;
/** The weight coefficient for linear combination (alpha) */
double alpha;
--- 2863,2867 ----
{
/** The particle's pose (m,m,rad) */
! player_pose2d_t pose;
/** The weight coefficient for linear combination (alpha) */
double alpha;
***************
*** 2877,2881 ****
{
/** The best (?) pose (mm, mm, arc-seconds). */
! player_pose_t mean;
/** The variance of the best (?) pose (mm^2) */
double variance;
--- 2876,2880 ----
{
/** The best (?) pose (mm, mm, arc-seconds). */
! player_pose2d_t mean;
/** The variance of the best (?) pose (mm^2) */
double variance;
***************
*** 3027,3031 ****
/** The origin of the map [m, m, rad]. That is, the real-world pose of
* cell (0,0) in the map */
! player_pose_t origin;
} player_map_info_t;
--- 3026,3030 ----
/** The origin of the map [m, m, rad]. That is, the real-world pose of
* cell (0,0) in the map */
! player_pose2d_t origin;
} player_map_info_t;
***************
*** 3232,3240 ****
uint8_t done;
/** Current location (m,m,rad) */
! player_pose_t pos;
/** Goal location (m,m,rad) */
! player_pose_t goal;
/** Current waypoint location (m,m,rad) */
! player_pose_t waypoint;
/** Current waypoint index (handy if you already have the list
of waypoints). May be negative if there's no plan, or if
--- 3231,3239 ----
uint8_t done;
/** Current location (m,m,rad) */
! player_pose2d_t pos;
/** Goal location (m,m,rad) */
! player_pose2d_t goal;
/** Current waypoint location (m,m,rad) */
! player_pose2d_t waypoint;
/** Current waypoint index (handy if you already have the list
of waypoints). May be negative if there's no plan, or if
***************
*** 3251,3255 ****
{
/** Goal location (m,m,rad) */
! player_pose_t goal;
} player_planner_cmd_t;
--- 3250,3254 ----
{
/** Goal location (m,m,rad) */
! player_pose2d_t goal;
} player_planner_cmd_t;
***************
*** 3264,3268 ****
uint32_t waypoints_count;
/** The waypoints */
! player_pose_t waypoints[PLAYER_PLANNER_MAX_WAYPOINTS];
} player_planner_waypoints_req_t;
--- 3263,3267 ----
uint32_t waypoints_count;
/** The waypoints */
! player_pose2d_t waypoints[PLAYER_PLANNER_MAX_WAYPOINTS];
} player_planner_waypoints_req_t;
***************
*** 3659,3666 ****
typedef struct player_position1d_geom
{
! /** Pose of the robot base, in the robot cs (m, m, rad). */
! player_pose_t pose;
! /** Dimensions of the base (m, m). */
! player_bbox_t size;
} player_position1d_geom_t;
--- 3658,3665 ----
typedef struct player_position1d_geom
{
! /** Pose of the robot base, in the robot cs (m, m, m, rad, rad, rad). */
! player_pose3d_t pose;
! /** Dimensions of the base (m, m, m). */
! player_bbox3d_t size;
} player_position1d_geom_t;
***************
*** 3822,3828 ****
{
/** position [m,m,rad] (x, y, yaw)*/
! player_pose_t pos;
/** translational velocities [m/s,m/s,rad/s] (x, y, yaw)*/
! player_pose_t vel;
/** Are the motors stalled? */
uint8_t stall;
--- 3821,3827 ----
{
/** position [m,m,rad] (x, y, yaw)*/
! player_pose2d_t pos;
/** translational velocities [m/s,m/s,rad/s] (x, y, yaw)*/
! player_pose2d_t vel;
/** Are the motors stalled? */
uint8_t stall;
***************
*** 3837,3841 ****
{
/** translational velocities [m/s,m/s,rad/s] (x, y, yaw)*/
! player_pose_t vel;
/** Motor state (FALSE is either off or locked, depending on the driver). */
uint8_t state;
--- 3836,3840 ----
{
/** translational velocities [m/s,m/s,rad/s] (x, y, yaw)*/
! player_pose2d_t vel;
/** Motor state (FALSE is either off or locked, depending on the driver). */
uint8_t state;
***************
*** 3850,3856 ****
{
/** position [m,m,rad] (x, y, yaw)*/
! player_pose_t pos;
/** velocity at which to move to the position [m/s] or [rad/s] */
! player_pose_t vel;
/** Motor state (FALSE is either off or locked, depending on the driver). */
uint8_t state;
--- 3849,3855 ----
{
/** position [m,m,rad] (x, y, yaw)*/
! player_pose2d_t pos;
/** velocity at which to move to the position [m/s] or [rad/s] */
! player_pose2d_t vel;
/** Motor state (FALSE is either off or locked, depending on the driver). */
uint8_t state;
***************
*** 3877,3884 ****
typedef struct player_position2d_geom
{
! /** Pose of the robot base, in the robot cs (m, m, rad). */
! player_pose_t pose;
! /** Dimensions of the base (m, m). */
! player_bbox_t size;
} player_position2d_geom_t;
--- 3876,3883 ----
typedef struct player_position2d_geom
{
! /** Pose of the robot base, in the robot cs (m, rad). */
! player_pose3d_t pose;
! /** Dimensions of the base (m). */
! player_bbox3d_t size;
} player_position2d_geom_t;
***************
*** 3956,3960 ****
{
/** (x, y, yaw) [m, m, rad] */
! player_pose_t pose;
} player_position2d_set_odom_req_t;
--- 3955,3959 ----
{
/** (x, y, yaw) [m, m, rad] */
! player_pose2d_t pose;
} player_position2d_set_odom_req_t;
***************
*** 4622,4626 ****
char name[PLAYER_SIMULATION_IDENTIFIER_MAXLEN];
/** the desired pose in (m, m, rad) */
! player_pose_t pose;
} player_simulation_pose2d_req_t;
--- 4621,4625 ----
char name[PLAYER_SIMULATION_IDENTIFIER_MAXLEN];
/** the desired pose in (m, m, rad) */
! player_pose2d_t pose;
} player_simulation_pose2d_req_t;
***************
*** 4732,4736 ****
uint32_t poses_count;
/** Pose of each sonar, in robot cs */
! player_pose_t poses[PLAYER_SONAR_MAX_SAMPLES];
} player_sonar_geom_t;
--- 4731,4735 ----
uint32_t poses_count;
/** Pose of each sonar, in robot cs */
! player_pose3d_t poses[PLAYER_SONAR_MAX_SAMPLES];
} player_sonar_geom_t;
-------------------------------------------------------------------------
This SF.net email is sponsored by DB2 Express
Download DB2 Express C - the FREE version of DB2 express and take
control of your XML. No limits. Just data. Click to get it now.
http://sourceforge.net/powerbar/db2/
_______________________________________________
Playerstage-commit mailing list
[email protected]
https://lists.sourceforge.net/lists/listinfo/playerstage-commit
