Update of /cvsroot/playerstage/code/stage/libstage
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv11749/libstage
Modified Files:
Tag: opengl
Makefile Makefile.am model_fiducial.cc model_laser.cc stage.hh
stest.cc world.cc
Log Message:
fixed plugin
Index: stest.cc
===================================================================
RCS file: /cvsroot/playerstage/code/stage/libstage/Attic/stest.cc,v
retrieving revision 1.1.2.23
retrieving revision 1.1.2.24
diff -C2 -d -r1.1.2.23 -r1.1.2.24
*** stest.cc 7 Jan 2008 05:33:17 -0000 1.1.2.23
--- stest.cc 8 Jan 2008 00:30:12 -0000 1.1.2.24
***************
*** 149,155 ****
stg_blobfinder_blob_t* blobs = robots[i].blobfinder->GetBlobs( &bcount
);
! printf( "robot %s sees %u blobs\n", robots[i].blobfinder->Token(),
bcount );
! //robots[i].position->SetSpeed( forward_speed, side_speed, turn_speed
);
}
--- 149,155 ----
stg_blobfinder_blob_t* blobs = robots[i].blobfinder->GetBlobs( &bcount
);
! //printf( "robot %s sees %u blobs\n", robots[i].blobfinder->Token(),
bcount );
! robots[i].position->SetSpeed( forward_speed, side_speed, turn_speed );
}
Index: model_laser.cc
===================================================================
RCS file: /cvsroot/playerstage/code/stage/libstage/Attic/model_laser.cc,v
retrieving revision 1.1.2.17
retrieving revision 1.1.2.18
diff -C2 -d -r1.1.2.17 -r1.1.2.18
*** model_laser.cc 7 Jan 2008 05:33:17 -0000 1.1.2.17
--- model_laser.cc 8 Jan 2008 00:30:12 -0000 1.1.2.18
***************
*** 150,159 ****
bool laser_raytrace_match( StgBlock* testblock,
StgModel* finder,
! const void* dummy )
! {
// Ignore the model that's looking and things that are invisible to
// lasers
if( (testblock->Model() != finder) &&
(testblock->Model()->LaserReturn() > 0 ) )
return true; // match!
--- 150,162 ----
bool laser_raytrace_match( StgBlock* testblock,
StgModel* finder,
! const void* zp )
! {
// Ignore the model that's looking and things that are invisible to
// lasers
+ double z = *(stg_meters_t*)zp;
+
if( (testblock->Model() != finder) &&
+ testblock->IntersectGlobalZ( z ) &&
(testblock->Model()->LaserReturn() > 0 ) )
return true; // match!
***************
*** 174,177 ****
--- 177,185 ----
double bearing = -fov/2.0;
double sample_incr = fov / (double)(sample_count-1);
+
+ stg_pose_t gpose;
+ GetGlobalPose( &gpose );
+
+ stg_meters_t zscan = gpose.z + geom.size.z /2.0;
for( unsigned int t=0; t<sample_count; t += resolution )
***************
*** 181,185 ****
range_max,
laser_raytrace_match,
! NULL,
&sample );
--- 189,193 ----
range_max,
laser_raytrace_match,
! &zscan, // height of scan line
&sample );
Index: Makefile
===================================================================
RCS file: /cvsroot/playerstage/code/stage/libstage/Attic/Makefile,v
retrieving revision 1.1.2.11
retrieving revision 1.1.2.12
diff -C2 -d -r1.1.2.11 -r1.1.2.12
*** Makefile 29 Dec 2007 05:07:40 -0000 1.1.2.11
--- Makefile 8 Jan 2008 00:30:12 -0000 1.1.2.12
***************
*** 68,73 ****
glcolorstack.lo model.lo model_callbacks.lo model_fiducial.lo \
model_laser.lo model_load.lo model_position.lo model_ranger.lo \
! model_props.lo stage.lo typetable.lo world.lo worldfile.lo \
! worldgui.lo
libstage_la_OBJECTS = $(am_libstage_la_OBJECTS)
libstage_la_LINK = $(LIBTOOL) --tag=CXX $(AM_LIBTOOLFLAGS) \
--- 68,73 ----
glcolorstack.lo model.lo model_callbacks.lo model_fiducial.lo \
model_laser.lo model_load.lo model_position.lo model_ranger.lo \
! model_blobfinder.lo model_props.lo stage.lo typetable.lo \
! world.lo worldfile.lo worldgui.lo
libstage_la_OBJECTS = $(am_libstage_la_OBJECTS)
libstage_la_LINK = $(LIBTOOL) --tag=CXX $(AM_LIBTOOLFLAGS) \
***************
*** 139,143 ****
GREP = /usr/bin/grep
HAVE_FLTK_CONFIG = fltk-config
! INSTALL = /usr/bin/install -c
INSTALL_DATA = ${INSTALL} -m 644
INSTALL_PROGRAM = ${INSTALL}
--- 139,143 ----
GREP = /usr/bin/grep
HAVE_FLTK_CONFIG = fltk-config
! INSTALL = /opt/local/bin/ginstall -c
INSTALL_DATA = ${INSTALL} -m 644
INSTALL_PROGRAM = ${INSTALL}
***************
*** 152,156 ****
LTLIBOBJS =
MAKEINFO = ${SHELL} /Users/vaughan/PS/HEAD/stage.opengl/missing --run makeinfo
! MKDIR_P = .././install-sh -c -d
OBJEXT = o
PACKAGE = stage
--- 152,156 ----
LTLIBOBJS =
MAKEINFO = ${SHELL} /Users/vaughan/PS/HEAD/stage.opengl/missing --run makeinfo
! MKDIR_P = /opt/local/bin/gmkdir -p
OBJEXT = o
PACKAGE = stage
***************
*** 210,214 ****
localstatedir = ${prefix}/var
mandir = ${datarootdir}/man
! mkdir_p = $(top_builddir)/./install-sh -c -d
oldincludedir = /usr/include
pdfdir = ${docdir}
--- 210,214 ----
localstatedir = ${prefix}/var
mandir = ${datarootdir}/man
! mkdir_p = /opt/local/bin/gmkdir -p
oldincludedir = /usr/include
pdfdir = ${docdir}
***************
*** 257,260 ****
--- 257,261 ----
model_position.cc \
model_ranger.cc \
+ model_blobfinder.cc \
model_props.cc \
stage.cc \
***************
*** 379,382 ****
--- 380,384 ----
include ./$(DEPDIR)/glcolorstack.Plo
include ./$(DEPDIR)/model.Plo
+ include ./$(DEPDIR)/model_blobfinder.Plo
include ./$(DEPDIR)/model_callbacks.Plo
include ./$(DEPDIR)/model_fiducial.Plo
Index: world.cc
===================================================================
RCS file: /cvsroot/playerstage/code/stage/libstage/Attic/world.cc,v
retrieving revision 1.1.2.21
retrieving revision 1.1.2.22
diff -C2 -d -r1.1.2.21 -r1.1.2.22
*** world.cc 7 Jan 2008 05:33:17 -0000 1.1.2.21
--- world.cc 8 Jan 2008 00:30:12 -0000 1.1.2.22
***************
*** 582,586 ****
// matches the predicate and it's in the right z range
if( //block && (block->Model() != finder) &&
! block->IntersectGlobalZ( pose.z ) &&
(*func)( block, mod, arg ) )
{
--- 582,586 ----
// matches the predicate and it's in the right z range
if( //block && (block->Model() != finder) &&
! //block->IntersectGlobalZ( pose.z ) &&
(*func)( block, mod, arg ) )
{
Index: Makefile.am
===================================================================
RCS file: /cvsroot/playerstage/code/stage/libstage/Attic/Makefile.am,v
retrieving revision 1.1.2.7
retrieving revision 1.1.2.8
diff -C2 -d -r1.1.2.7 -r1.1.2.8
*** Makefile.am 24 Dec 2007 11:20:36 -0000 1.1.2.7
--- Makefile.am 8 Jan 2008 00:30:12 -0000 1.1.2.8
***************
*** 35,38 ****
--- 35,39 ----
model_position.cc \
model_ranger.cc \
+ model_blobfinder.cc \
model_props.cc \
stage.cc \
Index: model_fiducial.cc
===================================================================
RCS file: /cvsroot/playerstage/code/stage/libstage/Attic/model_fiducial.cc,v
retrieving revision 1.1.2.4
retrieving revision 1.1.2.5
diff -C2 -d -r1.1.2.4 -r1.1.2.5
*** model_fiducial.cc 7 Jan 2008 05:33:17 -0000 1.1.2.4
--- model_fiducial.cc 8 Jan 2008 00:30:12 -0000 1.1.2.5
***************
*** 169,175 ****
StgModel* hitmod = ray.block->Model();
! printf( "ray hit %s and was seeking LOS to %s\n",
! hitmod ? hitmod->Token() : "null",
! him->Token() );
// if it was him, we can see him
--- 169,175 ----
StgModel* hitmod = ray.block->Model();
! // printf( "ray hit %s and was seeking LOS to %s\n",
! //hitmod ? hitmod->Token() : "null",
! //him->Token() );
// if it was him, we can see him
Index: stage.hh
===================================================================
RCS file: /cvsroot/playerstage/code/stage/libstage/Attic/stage.hh,v
retrieving revision 1.1.2.23
retrieving revision 1.1.2.24
diff -C2 -d -r1.1.2.23 -r1.1.2.24
*** stage.hh 7 Jan 2008 05:33:17 -0000 1.1.2.23
--- stage.hh 8 Jan 2008 00:30:12 -0000 1.1.2.24
***************
*** 859,862 ****
--- 859,863 ----
friend class StgModel; // allow access to private members
friend class StgBlock;
+ friend class StgTime;
private:
***************
*** 1282,1285 ****
--- 1283,1288 ----
void GetColor( stg_color_t* col )
{ if(color) memcpy( col, &this->color, sizeof(stg_color_t)); }
+
+ stg_color_t Color(){ return color; }
void GetLaserReturn( int* val )
***************
*** 1292,1301 ****
--- 1295,1311 ----
origin in local coords) */
void GetGeom( stg_geom_t* dest );
+ /** Get a model's geometry - it's size and local pose (offset from
+ origin in local coords) */
+ stg_geom_t Geom(){ return geom; };
/** Get the pose of a model in its parent's coordinate system */
void GetPose( stg_pose_t* dest );
+ /** Get the pose of a model in its parent's coordinate system */
+ stg_pose_t Pose(){ return pose; }
/** Get a model's velocity (in its local reference frame) */
void GetVelocity( stg_velocity_t* dest );
+ /** Get a model's velocity (in its local reference frame) */
+ stg_velocity_t Velocity(){ return velocity; }
// guess what these do?
***************
*** 1452,1456 ****
stg_color_t Color()
! { return color; };
private:
--- 1462,1466 ----
stg_color_t Color()
! { return( inherit_color ? mod->Color() : color ); }
private:
***************
*** 1659,1668 ****
typedef struct
{
- //int channel;
stg_color_t color;
! int xpos, ypos; // all values are in pixels
! //int width, height;
! int left, top, right, bottom;
! int area;
stg_meters_t range;
} stg_blobfinder_blob_t;
--- 1669,1674 ----
typedef struct
{
stg_color_t color;
! uint32_t left, top, right, bottom;
stg_meters_t range;
} stg_blobfinder_blob_t;
***************
*** 1685,1692 ****
stg_meters_t range;
stg_radians_t fov;
- // TODO
- // stg_radians_t pan;
-
// constructor
StgModelBlobfinder( StgWorld* world,
--- 1691,1696 ----
stg_meters_t range;
stg_radians_t fov;
+ stg_radians_t pan;
// constructor
StgModelBlobfinder( StgWorld* world,
-------------------------------------------------------------------------
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