Update of /cvsroot/playerstage/code/player/utils/playerv
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv11860/utils/playerv
Modified Files:
Tag: b_thjc_dynamic_arrays
pv_dev_ranger.c pv_dev_laser.c
Removed Files:
Tag: b_thjc_dynamic_arrays
dev_bumper.c
Log Message:
dynamic array changes to drivers compile, still needs testing
added lots more .cvsignore settings for eclipse
--- dev_bumper.c DELETED ---
Index: pv_dev_ranger.c
===================================================================
RCS file: /cvsroot/playerstage/code/player/utils/playerv/pv_dev_ranger.c,v
retrieving revision 1.1.2.1
retrieving revision 1.1.2.2
diff -C2 -d -r1.1.2.1 -r1.1.2.2
*** pv_dev_ranger.c 10 Oct 2007 09:26:02 -0000 1.1.2.1
--- pv_dev_ranger.c 19 Oct 2007 21:59:00 -0000 1.1.2.2
***************
*** 189,193 ****
int point_count;
double point1[2], point2[2];
! double *points;
double current_angle = 0.0f, temp = 0.0f;
unsigned int ranges_per_sensor = 0;
--- 189,193 ----
int point_count;
double point1[2], point2[2];
! double (*points)[2];
double current_angle = 0.0f, temp = 0.0f;
unsigned int ranges_per_sensor = 0;
***************
*** 218,227 ****
// Draw a cone for the first range for each sensor
// Assume the range is straight ahead (ignore min_angle and resolution
properties)
! points[0] = 0.0f;
! points[1] = 0.0f;
! points[2] = ranger->proxy->ranges[ii * ranges_per_sensor] * cos(-temp);
! points[3] = ranger->proxy->ranges[ii * ranges_per_sensor] * sin(-temp);
! points[4] = ranger->proxy->ranges[ii * ranges_per_sensor] * cos(temp);
! points[5] = ranger->proxy->ranges[ii * ranges_per_sensor] * sin(temp);
rtk_fig_polygon(ranger->scan_fig[ii], 0, 0, 0, 3, points, 1);
--- 218,227 ----
// Draw a cone for the first range for each sensor
// Assume the range is straight ahead (ignore min_angle and resolution
properties)
! points[0][0] = 0.0f;
! points[0][1] = 0.0f;
! points[1][0] = ranger->proxy->ranges[ii * ranges_per_sensor] *
cos(-temp);
! points[1][1] = ranger->proxy->ranges[ii * ranges_per_sensor] *
sin(-temp);
! points[2][0] = ranger->proxy->ranges[ii * ranges_per_sensor] *
cos(temp);
! points[2][1] = ranger->proxy->ranges[ii * ranges_per_sensor] *
sin(temp);
rtk_fig_polygon(ranger->scan_fig[ii], 0, 0, 0, 3, points, 1);
***************
*** 246,251 ****
// Draw empty space
! points[0] = ranger->proxy->sensor_poses[ii].px;
! points[1] = ranger->proxy->sensor_poses[ii].py;
point_count = 1;
current_angle = ranger->start_angle;
--- 246,251 ----
// Draw empty space
! points[0][0] = ranger->proxy->sensor_poses[ii].px;
! points[0][1] = ranger->proxy->sensor_poses[ii].py;
point_count = 1;
current_angle = ranger->start_angle;
***************
*** 253,257 ****
for (jj = ii * ranges_per_sensor; jj < (ii + 1) * ranges_per_sensor;
jj++)
{
! range_to_point(ranger, jj, ii, current_angle,
&points[point_count*2]);
// Move round to the angle of the next range
current_angle += ranger->resolution;
--- 253,257 ----
for (jj = ii * ranges_per_sensor; jj < (ii + 1) * ranges_per_sensor;
jj++)
{
! range_to_point(ranger, jj, ii, current_angle, points[point_count]);
// Move round to the angle of the next range
current_angle += ranger->resolution;
Index: pv_dev_laser.c
===================================================================
RCS file: /cvsroot/playerstage/code/player/utils/playerv/pv_dev_laser.c,v
retrieving revision 1.1.2.1
retrieving revision 1.1.2.2
diff -C2 -d -r1.1.2.1 -r1.1.2.2
*** pv_dev_laser.c 10 Oct 2007 09:26:02 -0000 1.1.2.1
--- pv_dev_laser.c 19 Oct 2007 21:59:00 -0000 1.1.2.2
***************
*** 225,229 ****
double r, b, res;
int point_count;
! double * points;
rtk_fig_show(laser->scan_fig, 1);
rtk_fig_clear(laser->scan_fig);
--- 225,229 ----
double r, b, res;
int point_count;
! double (*points)[2];
rtk_fig_show(laser->scan_fig, 1);
rtk_fig_clear(laser->scan_fig);
***************
*** 258,266 ****
r = laser->proxy->scan[i][0];
b = laser->proxy->scan[i][1];
! points[i*2] = r * cos(b - res);
! points[i*2+1] = r * sin(b - res);
}
rtk_fig_color_rgb32(laser->scan_fig, COLOR_LASER_EMP);
! rtk_fig_polygon(laser->scan_fig, 0, 0, 0, laser->proxy->scan_count,
(double *)points, 1);
free(points);
points = NULL;
--- 258,266 ----
r = laser->proxy->scan[i][0];
b = laser->proxy->scan[i][1];
! points[i][0] = r * cos(b - res);
! points[i][1] = r * sin(b - res);
}
rtk_fig_color_rgb32(laser->scan_fig, COLOR_LASER_EMP);
! rtk_fig_polygon(laser->scan_fig, 0, 0, 0, laser->proxy->scan_count,
points, 1);
free(points);
points = NULL;
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