Update of /cvsroot/playerstage/code/stage/libstage
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv10193/libstage
Modified Files:
ctrl.cc model_laser.cc
Log Message:
working on demos
Index: model_laser.cc
===================================================================
RCS file: /cvsroot/playerstage/code/stage/libstage/model_laser.cc,v
retrieving revision 1.3
retrieving revision 1.4
diff -C2 -d -r1.3 -r1.4
*** model_laser.cc 18 Feb 2008 03:52:30 -0000 1.3
--- model_laser.cc 21 Feb 2008 05:57:43 -0000 1.4
***************
*** 174,179 ****
void StgModelLaser::Update( void )
{
- StgModel::Update();
-
double bearing = -fov/2.0;
double sample_incr = fov / (double)(sample_count-1);
--- 174,177 ----
***************
*** 229,232 ****
--- 227,232 ----
data_dirty = true;
+
+ StgModel::Update();
}
Index: ctrl.cc
===================================================================
RCS file: /cvsroot/playerstage/code/stage/libstage/ctrl.cc,v
retrieving revision 1.2
retrieving revision 1.3
diff -C2 -d -r1.2 -r1.3
*** ctrl.cc 21 Feb 2008 03:35:05 -0000 1.2
--- ctrl.cc 21 Feb 2008 05:57:43 -0000 1.3
***************
*** 32,37 ****
int LaserUpdate( StgModel* mod, robot_t* robot )
{
robot->pos->SetSpeed( 0.1, 0, 0.1 );
! return FALSE; // run again
}
--- 32,47 ----
int LaserUpdate( StgModel* mod, robot_t* robot )
{
+ // inspect the laser data and decide what to do
+ uint32_t sample_count=0;
+ stg_laser_sample_t* scan = robot->laser->GetSamples( &sample_count );
+ assert(scan);
+
+ printf( "Laser %u samples\n", sample_count );
+ for( uint32_t s=0; s<sample_count; s++ )
+ printf( "%.2f ", scan[s] );
+ puts("");
+
robot->pos->SetSpeed( 0.1, 0, 0.1 );
! return 0; // run again
}
***************
*** 43,47 ****
pose.x, pose.y, pose.z, pose.a );
! return FALSE; // run again
}
--- 53,57 ----
pose.x, pose.y, pose.z, pose.a );
! return 0; // run again
}
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