Update of /cvsroot/playerstage/code/stage/libstageplugin
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv4091/libstageplugin
Modified Files:
Tag: opengl
Makefile.am p_graphics3d.cc p_laser.cc p_position.cc
Log Message:
fixed plugin
Index: p_position.cc
===================================================================
RCS file: /cvsroot/playerstage/code/stage/libstageplugin/Attic/p_position.cc,v
retrieving revision 1.1.2.2
retrieving revision 1.1.2.3
diff -C2 -d -r1.1.2.2 -r1.1.2.3
*** p_position.cc 27 Nov 2007 05:36:02 -0000 1.1.2.2
--- p_position.cc 24 Dec 2007 11:20:37 -0000 1.1.2.3
***************
*** 74,81 ****
//memset( &scmd, 0, sizeof(scmd));
! mod->goal.x = pcmd->vel.px;
! mod->goal.y = pcmd->vel.py;
! mod->goal.a = pcmd->vel.pa;
! mod->control_mode = STG_POSITION_CONTROL_VELOCITY;
return 0;
--- 74,78 ----
//memset( &scmd, 0, sizeof(scmd));
! mod->SetSpeed( pcmd->vel.px, pcmd->vel.py, pcmd->vel.pa );
return 0;
***************
*** 93,101 ****
memset( &scmd, 0, sizeof(scmd));
! mod->goal.x = pcmd->pos.px;
! mod->goal.y = pcmd->pos.py;
! mod->goal.a = pcmd->pos.pa;
! mod->control_mode = STG_POSITION_CONTROL_POSITION;
!
return 0;
}
--- 90,94 ----
memset( &scmd, 0, sizeof(scmd));
! mod->GoTo( pcmd->vel.px, pcmd->vel.py, pcmd->vel.pa );
return 0;
}
***************
*** 112,120 ****
memset( &scmd, 0, sizeof(scmd));
! mod->goal.x = pcmd->velocity;
! mod->goal.y = 0;
! mod->goal.a = pcmd->angle;
! mod->control_mode = STG_POSITION_CONTROL_VELOCITY;
!
return 0;
}
--- 105,109 ----
memset( &scmd, 0, sizeof(scmd));
! mod->SetSpeed( pcmd->velocity, 0, pcmd->angle );
return 0;
}
Index: p_graphics3d.cc
===================================================================
RCS file: /cvsroot/playerstage/code/stage/libstageplugin/Attic/p_graphics3d.cc,v
retrieving revision 1.1.2.1
retrieving revision 1.1.2.2
diff -C2 -d -r1.1.2.1 -r1.1.2.2
*** p_graphics3d.cc 4 Oct 2007 01:17:03 -0000 1.1.2.1
--- p_graphics3d.cc 24 Dec 2007 11:20:37 -0000 1.1.2.2
***************
*** 37,43 ****
#endif
! #include <GL/gl.h>
! #include <GL/glu.h>
! #include <GL/glext.h>
extern GList* dl_list;
--- 37,43 ----
#endif
! //#include <gl.h>
! //#include <glu.h>
! //#include <glext.h>
extern GList* dl_list;
***************
*** 121,127 ****
}
! int InterfaceGraphics3d::ProcessMessage(MessageQueue* resp_queue,
! player_msghdr_t* hdr,
! void* data)
{
--- 121,127 ----
}
! int InterfaceGraphics3d::ProcessMessage( QueuePointer & resp_queue,
! player_msghdr_t* hdr,
! void* data)
{
Index: Makefile.am
===================================================================
RCS file: /cvsroot/playerstage/code/stage/libstageplugin/Attic/Makefile.am,v
retrieving revision 1.1.2.2
retrieving revision 1.1.2.3
diff -C2 -d -r1.1.2.2 -r1.1.2.3
*** Makefile.am 27 Nov 2007 05:36:02 -0000 1.1.2.2
--- Makefile.am 24 Dec 2007 11:20:37 -0000 1.1.2.3
***************
*** 18,21 ****
--- 18,22 ----
p_driver.cc \
p_driver.h \
+ p_graphics3d.cc \
p_laser.cc \
p_position.cc \
Index: p_laser.cc
===================================================================
RCS file: /cvsroot/playerstage/code/stage/libstageplugin/Attic/p_laser.cc,v
retrieving revision 1.1.2.3
retrieving revision 1.1.2.4
diff -C2 -d -r1.1.2.3 -r1.1.2.4
*** p_laser.cc 27 Nov 2007 07:03:33 -0000 1.1.2.3
--- p_laser.cc 24 Dec 2007 11:20:37 -0000 1.1.2.4
***************
*** 53,59 ****
{
StgModelLaser* mod = (StgModelLaser*)this->mod;
!
// don't publish anything until we have some real data
! if( mod->samples == NULL )
return;
--- 53,60 ----
{
StgModelLaser* mod = (StgModelLaser*)this->mod;
! stg_laser_sample_t* samples = mod->GetSamples();
!
// don't publish anything until we have some real data
! if( samples == NULL )
return;
***************
*** 61,69 ****
memset( &pdata, 0, sizeof(pdata) );
! pdata.min_angle = -mod->fov/2.0;
! pdata.max_angle = +mod->fov/2.0;
! pdata.max_range = mod->range_max;
! pdata.resolution = mod->fov / (double)(mod->sample_count-1);
! pdata.ranges_count = pdata.intensity_count = mod->sample_count;
pdata.id = this->scan_id++;
--- 62,73 ----
memset( &pdata, 0, sizeof(pdata) );
! stg_laser_cfg_t cfg;
! mod->GetConfig( &cfg );
!
! pdata.min_angle = -cfg.fov/2.0;
! pdata.max_angle = +cfg.fov/2.0;
! pdata.max_range = cfg.range_bounds.max;
! pdata.resolution = cfg.fov / (double)(cfg.sample_count-1);
! pdata.ranges_count = pdata.intensity_count = cfg.sample_count;
pdata.id = this->scan_id++;
***************
*** 71,79 ****
pdata.intensity = new uint8_t[pdata.ranges_count];
! for( int i=0; i<mod->sample_count; i++ )
{
//printf( "range %d %d\n", i, samples[i].range);
! pdata.ranges[i] = mod->samples[i].range;
! pdata.intensity[i] = (uint8_t)mod->samples[i].reflectance;
}
--- 75,83 ----
pdata.intensity = new uint8_t[pdata.ranges_count];
! for( int i=0; i<cfg.sample_count; i++ )
{
//printf( "range %d %d\n", i, samples[i].range);
! pdata.ranges[i] = samples[i].range;
! pdata.intensity[i] = (uint8_t)samples[i].reflectance;
}
***************
*** 111,124 ****
plc->resolution/1e2);
// tweak the parts that player knows about
! mod->fov = plc->max_angle - plc->min_angle;
!
! // TODO
! //mod->sample_count = (int)(slc.fov / DTOR(plc->resolution/1e2));
PRINT_DEBUG2( "setting laser config: fov %.2f samples %d",
slc.fov, slc.samples );
this->driver->Publish(this->addr, resp_queue,
PLAYER_MSGTYPE_RESP_ACK,
--- 115,133 ----
plc->resolution/1e2);
+ stg_laser_cfg_t cfg;
+ mod->GetConfig( &cfg );
// tweak the parts that player knows about
! cfg.fov = plc->max_angle - plc->min_angle;
!
! // todo - test this
! cfg.sample_count = (int)(cfg.fov / DTOR(plc->resolution/1e2));
PRINT_DEBUG2( "setting laser config: fov %.2f samples %d",
slc.fov, slc.samples );
+ mod->SetConfig( &cfg );
+
+
this->driver->Publish(this->addr, resp_queue,
PLAYER_MSGTYPE_RESP_ACK,
***************
*** 141,150 ****
if( hdr->size == 0 )
{
player_laser_config_t plc;
memset(&plc,0,sizeof(plc));
! plc.min_angle = -mod->fov/2.0;
! plc.max_angle = +mod->fov/2.0;
! plc.max_range = mod->range_max;
! plc.resolution = (uint8_t)(RTOD(mod->fov / (mod->sample_count-1)) *
100);
plc.intensity = 1; // todo
--- 150,162 ----
if( hdr->size == 0 )
{
+ stg_laser_cfg_t cfg;
+ mod->GetConfig( &cfg );
+
player_laser_config_t plc;
memset(&plc,0,sizeof(plc));
! plc.min_angle = -cfg.fov/2.0;
! plc.max_angle = +cfg.fov/2.0;
! plc.max_range = cfg.range_bounds.max;
! plc.resolution = (uint8_t)(RTOD(cfg.fov / (cfg.sample_count-1)) * 100);
plc.intensity = 1; // todo
-------------------------------------------------------------------------
This SF.net email is sponsored by: Microsoft
Defy all challenges. Microsoft(R) Visual Studio 2005.
http://clk.atdmt.com/MRT/go/vse0120000070mrt/direct/01/
_______________________________________________
Playerstage-commit mailing list
[email protected]
https://lists.sourceforge.net/lists/listinfo/playerstage-commit
