Update of /cvsroot/playerstage/code/player/utils/playerjoy
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv21090/utils/playerjoy
Modified Files:
playerjoy.cc
Log Message:
added carlike command option to playerjoy
Index: playerjoy.cc
===================================================================
RCS file: /cvsroot/playerstage/code/player/utils/playerjoy/playerjoy.cc,v
retrieving revision 1.37
retrieving revision 1.38
diff -C2 -d -r1.37 -r1.38
*** playerjoy.cc 20 Sep 2006 22:55:04 -0000 1.37
--- playerjoy.cc 10 Jan 2008 02:26:28 -0000 1.38
***************
*** 39,42 ****
--- 39,43 ----
- -k : use keyboard control
- -p : print out speeds on the console
+ - -a : send car like commands (velocity and steering angle)
- -udp : use UDP instead of TCP (deprecated, currently disabled)
- -speed : maximum linear speed (m/sec)
***************
*** 162,165 ****
--- 163,169 ----
bool use_keyboard = false;
+ // send carlike commands
+ bool use_car = false;
+
// create a gripper proxy and keys to control it?
bool use_gripper = false;
***************
*** 541,548 ****
// send the speed commands
! if(!threed)
! pp->SetSpeed(cont->speed, cont->turnrate);
! else
pp3->SetSpeed(cont->speed, cont->turnrate);
}
else
--- 545,554 ----
// send the speed commands
! if(threed)
pp3->SetSpeed(cont->speed, cont->turnrate);
+ if(use_car)
+ pp->SetCarlike(cont->speed, cont->turnrate);
+ else
+ pp->SetSpeed(cont->speed, cont->turnrate);
}
else
***************
*** 562,569 ****
if(print_speeds)
printf("%5.3f %5.3f\n", cont->speed, RTOD(cont->turnrate));
! if(!threed)
! pp->SetSpeed(0,0);
else
! pp3->SetSpeed(0,0);
}
else
--- 568,577 ----
if(print_speeds)
printf("%5.3f %5.3f\n", cont->speed, RTOD(cont->turnrate));
! if(threed)
! pp3->SetSpeed(cont->speed, cont->turnrate);
! if(use_car)
! pp->SetCarlike(cont->speed, cont->turnrate);
else
! pp->SetSpeed(cont->speed, cont->turnrate);
}
else
***************
*** 616,619 ****
--- 624,629 ----
else if( strcmp( argv[i], "-g" ) == 0 )
use_gripper = true;
+ else if( strcmp( argv[i], "-a" ) == 0 )
+ use_car = true;
else if( strcmp( argv[i], "-speed" ) == 0 )
{
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