Update of /cvsroot/playerstage/code/player/server/drivers/mixed/khepera
In directory
sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv1338/server/drivers/mixed/khepera
Modified Files:
khepera.cc
Log Message:
applied patch 1749747 to transition to 3d pose structures
Index: khepera.cc
===================================================================
RCS file:
/cvsroot/playerstage/code/player/server/drivers/mixed/khepera/khepera.cc,v
retrieving revision 1.16
retrieving revision 1.17
diff -C2 -d -r1.16 -r1.17
*** khepera.cc 26 Jan 2006 13:31:11 -0000 1.16
--- khepera.cc 9 Jul 2007 17:18:01 -0000 1.17
***************
*** 271,275 ****
geometry->position.pose.px =
cf->ReadTupleFloat(section,"position_pose",0,0) * geometry->scale;
geometry->position.pose.py =
cf->ReadTupleFloat(section,"position_pose",1,0) * geometry->scale;
! geometry->position.pose.pa =
cf->ReadTupleFloat(section,"position_pose",2,0) * geometry->scale;
// load dimension of the base
--- 271,275 ----
geometry->position.pose.px =
cf->ReadTupleFloat(section,"position_pose",0,0) * geometry->scale;
geometry->position.pose.py =
cf->ReadTupleFloat(section,"position_pose",1,0) * geometry->scale;
! geometry->position.pose.pyaw =
cf->ReadTupleFloat(section,"position_pose",2,0) * geometry->scale;
// load dimension of the base
***************
*** 284,316 ****
geometry->ir.poses[0].px = 10/1000*geometry->scale;
geometry->ir.poses[0].py = 24/1000*geometry->scale;
! geometry->ir.poses[0].pa = DTOR(90);
geometry->ir.poses[1].px = 19/1000*geometry->scale;
geometry->ir.poses[1].py = 17/1000*geometry->scale;
! geometry->ir.poses[1].pa = DTOR(45);
geometry->ir.poses[2].px = 25/1000*geometry->scale;
geometry->ir.poses[2].py = 6/1000*geometry->scale;
! geometry->ir.poses[2].pa = DTOR(0);
geometry->ir.poses[3].px = 25/1000*geometry->scale;
geometry->ir.poses[3].py = -6/1000*geometry->scale;
! geometry->ir.poses[3].pa = DTOR(0);
geometry->ir.poses[4].px = 19/1000*geometry->scale;
geometry->ir.poses[4].py = -17/1000*geometry->scale;
! geometry->ir.poses[4].pa = DTOR(-45);
geometry->ir.poses[5].px = 10/1000*geometry->scale;
geometry->ir.poses[5].py = -24/1000*geometry->scale;
! geometry->ir.poses[5].pa = DTOR(-90);
geometry->ir.poses[6].px = -24/1000*geometry->scale;
geometry->ir.poses[6].py = -10/1000*geometry->scale;
! geometry->ir.poses[6].pa = DTOR(180);
geometry->ir.poses[7].px = -24/1000*geometry->scale;
geometry->ir.poses[7].py = 10/1000*geometry->scale;
! geometry->ir.poses[7].pa = DTOR(180);
}
else
--- 284,316 ----
geometry->ir.poses[0].px = 10/1000*geometry->scale;
geometry->ir.poses[0].py = 24/1000*geometry->scale;
! geometry->ir.poses[0].pyaw = DTOR(90);
geometry->ir.poses[1].px = 19/1000*geometry->scale;
geometry->ir.poses[1].py = 17/1000*geometry->scale;
! geometry->ir.poses[1].pyaw = DTOR(45);
geometry->ir.poses[2].px = 25/1000*geometry->scale;
geometry->ir.poses[2].py = 6/1000*geometry->scale;
! geometry->ir.poses[2].pyaw = DTOR(0);
geometry->ir.poses[3].px = 25/1000*geometry->scale;
geometry->ir.poses[3].py = -6/1000*geometry->scale;
! geometry->ir.poses[3].pyaw = DTOR(0);
geometry->ir.poses[4].px = 19/1000*geometry->scale;
geometry->ir.poses[4].py = -17/1000*geometry->scale;
! geometry->ir.poses[4].pyaw = DTOR(-45);
geometry->ir.poses[5].px = 10/1000*geometry->scale;
geometry->ir.poses[5].py = -24/1000*geometry->scale;
! geometry->ir.poses[5].pyaw = DTOR(-90);
geometry->ir.poses[6].px = -24/1000*geometry->scale;
geometry->ir.poses[6].py = -10/1000*geometry->scale;
! geometry->ir.poses[6].pyaw = DTOR(180);
geometry->ir.poses[7].px = -24/1000*geometry->scale;
geometry->ir.poses[7].py = 10/1000*geometry->scale;
! geometry->ir.poses[7].pyaw = DTOR(180);
}
else
***************
*** 321,325 ****
geometry->ir.poses[i].px =
cf->ReadTupleFloat(section,"ir_poses",3*i,0)*geometry->scale;
geometry->ir.poses[i].py =
cf->ReadTupleFloat(section,"ir_poses",3*i+1,0)*geometry->scale;
! geometry->ir.poses[i].pa =
cf->ReadTupleFloat(section,"ir_poses",3*i+2,0);
}
}
--- 321,325 ----
geometry->ir.poses[i].px =
cf->ReadTupleFloat(section,"ir_poses",3*i,0)*geometry->scale;
geometry->ir.poses[i].py =
cf->ReadTupleFloat(section,"ir_poses",3*i+1,0)*geometry->scale;
! geometry->ir.poses[i].pyaw =
cf->ReadTupleFloat(section,"ir_poses",3*i+2,0);
}
}
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