Update of /cvsroot/playerstage/code/player/server/drivers/localization/amcl
In directory
sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv1338/server/drivers/localization/amcl
Modified Files:
amcl.cc amcl_laser.cc
Log Message:
applied patch 1749747 to transition to 3d pose structures
Index: amcl_laser.cc
===================================================================
RCS file:
/cvsroot/playerstage/code/player/server/drivers/localization/amcl/amcl_laser.cc,v
retrieving revision 1.23
retrieving revision 1.24
diff -C2 -d -r1.23 -r1.24
*** amcl_laser.cc 21 Apr 2006 09:22:51 -0000 1.23
--- amcl_laser.cc 9 Jul 2007 17:18:00 -0000 1.24
***************
*** 125,129 ****
this->laser_pose.v[0] = geom->pose.px;
this->laser_pose.v[1] = geom->pose.py;
! this->laser_pose.v[2] = geom->pose.pa;
PLAYER_MSG3(2, "laser geometry: %f,%f,%f",
this->laser_pose.v[0],
--- 125,129 ----
this->laser_pose.v[0] = geom->pose.px;
this->laser_pose.v[1] = geom->pose.py;
! this->laser_pose.v[2] = geom->pose.pyaw;
PLAYER_MSG3(2, "laser geometry: %f,%f,%f",
this->laser_pose.v[0],
Index: amcl.cc
===================================================================
RCS file:
/cvsroot/playerstage/code/player/server/drivers/localization/amcl/amcl.cc,v
retrieving revision 1.76
retrieving revision 1.77
diff -C2 -d -r1.76 -r1.77
*** amcl.cc 19 Jan 2007 22:34:09 -0000 1.76
--- amcl.cc 9 Jul 2007 17:18:00 -0000 1.77
***************
*** 916,920 ****
// Read out the current hypotheses
double max_weight = 0.0;
! pf_vector_t max_weight_pose;
this->hyp_count = 0;
for (i = 0; (size_t) i < sizeof(this->hyps) / sizeof(this->hyps[0]); i++)
--- 916,920 ----
// Read out the current hypotheses
double max_weight = 0.0;
! pf_vector_t max_weight_pose={{0.0,0.0,0.0}};
this->hyp_count = 0;
for (i = 0; (size_t) i < sizeof(this->hyps) / sizeof(this->hyps[0]); i++)
***************
*** 1202,1210 ****
AdaptiveMCL::ProcessGeom(MessageQueue* resp_queue, player_msghdr_t* hdr)
{
! player_position2d_geom_t geom;
// just return a point so we don't get errors from playerv
- geom.pose.px = 0;
- geom.pose.py = 0;
- geom.pose.pa = 0;
geom.size.sl = 0.01;
geom.size.sw = 0.01;
--- 1202,1207 ----
AdaptiveMCL::ProcessGeom(MessageQueue* resp_queue, player_msghdr_t* hdr)
{
! player_position2d_geom_t geom={{0}};
// just return a point so we don't get errors from playerv
geom.size.sl = 0.01;
geom.size.sw = 0.01;
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