Update of /cvsroot/playerstage/code/player/server/drivers/ranger
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv13775
Modified Files:
lasertoranger.cc sonartoranger.cc
Log Message:
Updated lasertoranger and sonartoranger drivers to handle changes in laser and
sonar interfaces.
Index: sonartoranger.cc
===================================================================
RCS file:
/cvsroot/playerstage/code/player/server/drivers/ranger/sonartoranger.cc,v
retrieving revision 1.2
retrieving revision 1.3
diff -C2 -d -r1.2 -r1.3
*** sonartoranger.cc 23 Jun 2007 03:25:46 -0000 1.2
--- sonartoranger.cc 11 Aug 2007 00:22:43 -0000 1.3
***************
*** 186,190 ****
int SonarToRanger::ConvertGeom (player_sonar_geom_t *geom)
{
! double minX = 0.0f, maxX = 0.0f, minY = 0.0f, maxY = 0.0f;
// Prepare some space for storing geometry data - the parent class will
clean this up when necessary
--- 186,190 ----
int SonarToRanger::ConvertGeom (player_sonar_geom_t *geom)
{
! double minX = 0.0f, maxX = 0.0f, minY = 0.0f, maxY = 0.0f, minZ = 0.0f,
maxZ = 0.0f;
// Prepare some space for storing geometry data - the parent class will
clean this up when necessary
***************
*** 220,224 ****
maxY = (geom->poses[ii].py > maxY) ? geom->poses[ii].py : maxY;
deviceGeom.sensor_poses[ii].py = geom->poses[ii].py;
! deviceGeom.sensor_poses[ii].pyaw = geom->poses[ii].pa;
}
// Even though the sensor sizes are all zero, they're still there
--- 220,229 ----
maxY = (geom->poses[ii].py > maxY) ? geom->poses[ii].py : maxY;
deviceGeom.sensor_poses[ii].py = geom->poses[ii].py;
! minZ = (geom->poses[ii].pz < minZ) ? geom->poses[ii].pz : minZ;
! maxZ = (geom->poses[ii].pz > maxZ) ? geom->poses[ii].pz : maxZ;
! deviceGeom.sensor_poses[ii].pz = geom->poses[ii].pz;
! deviceGeom.sensor_poses[ii].proll = geom->poses[ii].proll;
! deviceGeom.sensor_poses[ii].ppitch = geom->poses[ii].ppitch;
! deviceGeom.sensor_poses[ii].pyaw = geom->poses[ii].pyaw;
}
// Even though the sensor sizes are all zero, they're still there
***************
*** 227,230 ****
--- 232,236 ----
deviceGeom.size.sw = maxX - minX;
deviceGeom.size.sl = maxY - minY;
+ deviceGeom.size.sh = maxZ - minZ;
return 0;
Index: lasertoranger.cc
===================================================================
RCS file:
/cvsroot/playerstage/code/player/server/drivers/ranger/lasertoranger.cc,v
retrieving revision 1.3
retrieving revision 1.4
diff -C2 -d -r1.3 -r1.4
*** lasertoranger.cc 23 Jun 2007 03:25:46 -0000 1.3
--- lasertoranger.cc 11 Aug 2007 00:22:43 -0000 1.4
***************
*** 209,213 ****
{
player_laser_data_t *scanData = NULL;
! player_pose_t *pose = NULL;
player_ranger_data_rangepose_t rangeData;
player_ranger_data_intnspose_t intensityData;
--- 209,213 ----
{
player_laser_data_t *scanData = NULL;
! player_pose2d_t *pose = NULL;
player_ranger_data_rangepose_t rangeData;
player_ranger_data_intnspose_t intensityData;
***************
*** 301,311 ****
deviceGeom.pose.px = data->pose.px;
deviceGeom.pose.py = data->pose.py;
! deviceGeom.pose.pz = 0.0f;
! deviceGeom.pose.proll = 0.0f;
! deviceGeom.pose.ppitch = 0.0f;
! deviceGeom.pose.pyaw = data->pose.pa;
deviceGeom.size.sw = data->size.sw;
deviceGeom.size.sl = data->size.sl;
! deviceGeom.size.sh = 0.0f;
*(deviceGeom.sensor_poses) = deviceGeom.pose;
--- 301,311 ----
deviceGeom.pose.px = data->pose.px;
deviceGeom.pose.py = data->pose.py;
! deviceGeom.pose.pz = data->pose.pz;
! deviceGeom.pose.proll = data->pose.proll;
! deviceGeom.pose.ppitch = data->pose.ppitch;
! deviceGeom.pose.pyaw = data->pose.pyaw;
deviceGeom.size.sw = data->size.sw;
deviceGeom.size.sl = data->size.sl;
! deviceGeom.size.sh = data->size.sh;
*(deviceGeom.sensor_poses) = deviceGeom.pose;
-------------------------------------------------------------------------
This SF.net email is sponsored by: Splunk Inc.
Still grepping through log files to find problems? Stop.
Now Search log events and configuration files using AJAX and a browser.
Download your FREE copy of Splunk now >> http://get.splunk.com/
_______________________________________________
Playerstage-commit mailing list
[email protected]
https://lists.sourceforge.net/lists/listinfo/playerstage-commit
