Update of /cvsroot/playerstage/code/player/server/drivers/localization/amcl
In directory
sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv11860/server/drivers/localization/amcl
Modified Files:
Tag: b_thjc_dynamic_arrays
amcl.cc amcl.h amcl_laser.cc .cvsignore amcl_laser.h
Log Message:
dynamic array changes to drivers compile, still needs testing
added lots more .cvsignore settings for eclipse
Index: amcl_laser.cc
===================================================================
RCS file:
/cvsroot/playerstage/code/player/server/drivers/localization/amcl/amcl_laser.cc,v
retrieving revision 1.25
retrieving revision 1.25.2.1
diff -C2 -d -r1.25 -r1.25.2.1
*** amcl_laser.cc 23 Aug 2007 19:58:44 -0000 1.25
--- amcl_laser.cc 19 Oct 2007 21:58:57 -0000 1.25.2.1
***************
*** 185,191 ****
// allocate space for map cells
! assert(this->map->cells = (map_cell_t*)malloc(sizeof(map_cell_t) *
! this->map->size_x *
! this->map->size_y));
// now, get the map data
--- 185,192 ----
// allocate space for map cells
! this->map->cells = (map_cell_t*)malloc(sizeof(map_cell_t) *
! this->map->size_x *
! this->map->size_y);
! assert(this->map->cells);
// now, get the map data
***************
*** 197,207 ****
int si,sj;
! reqlen = sizeof(player_map_data_t) - PLAYER_MAP_MAX_TILE_SIZE + 4;
! data_req = (player_map_data_t*)calloc(1, reqlen);
assert(data_req);
! // Tile size
! sy = sx = (int)sqrt(PLAYER_MAP_MAX_TILE_SIZE);
! assert(sx * sy < (int)PLAYER_MAP_MAX_TILE_SIZE);
oi=oj=0;
while((oi < this->map->size_x) && (oj < this->map->size_y))
--- 198,206 ----
int si,sj;
! data_req = (player_map_data_t*) malloc(sizeof(player_map_data_t));
assert(data_req);
! // Tile size, limit to sensible maximum of 640x640 tiles
! sy = sx = 640;
oi=oj=0;
while((oi < this->map->size_x) && (oj < this->map->size_y))
***************
*** 303,307 ****
ndata->range_count = data->ranges_count;
ndata->range_max = data->max_range;
! assert((size_t) ndata->range_count < sizeof(ndata->ranges) /
sizeof(ndata->ranges[0]));
// Read the range data
--- 302,306 ----
ndata->range_count = data->ranges_count;
ndata->range_max = data->max_range;
! ndata->ranges = new double [ndata->range_count][2];
// Read the range data
Index: .cvsignore
===================================================================
RCS file:
/cvsroot/playerstage/code/player/server/drivers/localization/amcl/.cvsignore,v
retrieving revision 1.2.18.1
retrieving revision 1.2.18.2
diff -C2 -d -r1.2.18.1 -r1.2.18.2
*** .cvsignore 10 Oct 2007 09:26:05 -0000 1.2.18.1
--- .cvsignore 19 Oct 2007 21:58:57 -0000 1.2.18.2
***************
*** 3,4 ****
--- 3,6 ----
.deps
*.la
+ .libs
+ *.lo
Index: amcl.cc
===================================================================
RCS file:
/cvsroot/playerstage/code/player/server/drivers/localization/amcl/amcl.cc,v
retrieving revision 1.78.2.2
retrieving revision 1.78.2.3
diff -C2 -d -r1.78.2.2 -r1.78.2.3
*** amcl.cc 14 Oct 2007 04:41:47 -0000 1.78.2.2
--- amcl.cc 19 Oct 2007 21:58:57 -0000 1.78.2.3
***************
*** 463,466 ****
--- 463,468 ----
// Initial hypothesis list
this->hyp_count = 0;
+ this->hyp_alloc = 0;
+ this->hyps = NULL;
pthread_mutex_init(&this->best_hyp_lock,NULL);
***************
*** 483,486 ****
--- 485,489 ----
// Delete sensor data queue
delete[] this->q_data;
+ free(hyps);
// Delete sensors
***************
*** 925,928 ****
--- 928,936 ----
//pf_vector_fprintf(pose_mean, stdout, "%.3f");
+ if (this->hyp_count +1 > this->hyp_alloc)
+ {
+ this->hyp_alloc = this->hyp_count+1;
+ this->hyps = (amcl_hyp_t*)realloc(this->hyps,
sizeof(amcl_hyp_t)*this->hyp_alloc);
+ }
hyp = this->hyps + this->hyp_count++;
hyp->weight = weight;
***************
*** 1005,1009 ****
pf_vector_t pose;
pf_matrix_t pose_cov;
! size_t datalen;
player_localize_data_t data;
--- 1013,1017 ----
pf_vector_t pose;
pf_matrix_t pose_cov;
! //size_t datalen;
player_localize_data_t data;
***************
*** 1163,1167 ****
PLAYER_LOCALIZE_REQ_GET_PARTICLES,
(void*)&resp);
! delete [] resp->particles;
return(0);
} else if(Message::MatchMessage(hdr, PLAYER_MSGTYPE_REQ,
--- 1171,1175 ----
PLAYER_LOCALIZE_REQ_GET_PARTICLES,
(void*)&resp);
! delete [] resp.particles;
return(0);
} else if(Message::MatchMessage(hdr, PLAYER_MSGTYPE_REQ,
Index: amcl_laser.h
===================================================================
RCS file:
/cvsroot/playerstage/code/player/server/drivers/localization/amcl/amcl_laser.h,v
retrieving revision 1.12
retrieving revision 1.12.2.1
diff -C2 -d -r1.12 -r1.12.2.1
*** amcl_laser.h 23 Aug 2007 19:58:44 -0000 1.12
--- amcl_laser.h 19 Oct 2007 21:58:57 -0000 1.12.2.1
***************
*** 37,44 ****
class AMCLLaserData : public AMCLSensorData
{
// Laser range data (range, bearing tuples)
public: int range_count;
public: double range_max;
! public: double ranges[PLAYER_LASER_MAX_SAMPLES][2];
};
--- 37,47 ----
class AMCLLaserData : public AMCLSensorData
{
+ public:
+ AMCLLaserData () {ranges=NULL;};
+ ~AMCLLaserData() {delete [] ranges;};
// Laser range data (range, bearing tuples)
public: int range_count;
public: double range_max;
! public: double (*ranges)[2];
};
Index: amcl.h
===================================================================
RCS file:
/cvsroot/playerstage/code/player/server/drivers/localization/amcl/amcl.h,v
retrieving revision 1.17
retrieving revision 1.17.2.1
diff -C2 -d -r1.17 -r1.17.2.1
*** amcl.h 23 Aug 2007 19:58:44 -0000 1.17
--- amcl.h 19 Oct 2007 21:58:57 -0000 1.17.2.1
***************
*** 174,178 ****
// Current particle filter pose estimates
private: int hyp_count;
! private: amcl_hyp_t hyps[PLAYER_LOCALIZE_MAX_HYPOTHS];
private: pf_vector_t best_hyp;
private: pthread_mutex_t best_hyp_lock;
--- 174,179 ----
// Current particle filter pose estimates
private: int hyp_count;
! private: int hyp_alloc;
! private: amcl_hyp_t *hyps;
private: pf_vector_t best_hyp;
private: pthread_mutex_t best_hyp_lock;
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