Revision: 6742
http://playerstage.svn.sourceforge.net/playerstage/?rev=6742&view=rev
Author: jeremy_asher
Date: 2008-07-02 14:41:39 -0700 (Wed, 02 Jul 2008)
Log Message:
-----------
Added filter options for all sensor classes
Modified Paths:
--------------
code/stage/trunk/libstage/model_blinkenlight.cc
code/stage/trunk/libstage/model_blobfinder.cc
code/stage/trunk/libstage/model_camera.cc
code/stage/trunk/libstage/model_fiducial.cc
code/stage/trunk/libstage/model_laser.cc
code/stage/trunk/libstage/model_position.cc
code/stage/trunk/libstage/model_ranger.cc
code/stage/trunk/libstage/stage.hh
code/stage/trunk/libstage/worldgui.cc
Modified: code/stage/trunk/libstage/model_blinkenlight.cc
===================================================================
--- code/stage/trunk/libstage/model_blinkenlight.cc 2008-07-02 21:09:50 UTC
(rev 6741)
+++ code/stage/trunk/libstage/model_blinkenlight.cc 2008-07-02 21:41:39 UTC
(rev 6742)
@@ -48,6 +48,10 @@
//#define DEBUG 1
#include "stage_internal.hh"
+#include "option.hh"
+
+Option StgModelBlinkenlight::showBlinkenData( "Show Blink", "show_blinken",
"", true );
+
StgModelBlinkenlight::StgModelBlinkenlight( StgWorld* world,
StgModel* parent )
@@ -74,6 +78,8 @@
this->on = true;
this->Startup();
+
+ registerOption( &showBlinkenData );
}
StgModelBlinkenlight::~StgModelBlinkenlight()
@@ -99,11 +105,9 @@
}
-void StgModelBlinkenlight::Draw( uint32_t flags, StgCanvas* canvas )
+void StgModelBlinkenlight::DataVisualize()
{
- StgModel::Draw( flags, canvas );
-
- if( on )
+ if( on && showBlinkenData )
{
glPushMatrix();
// move into this model's local coordinate frame
Modified: code/stage/trunk/libstage/model_blobfinder.cc
===================================================================
--- code/stage/trunk/libstage/model_blobfinder.cc 2008-07-02 21:09:50 UTC
(rev 6741)
+++ code/stage/trunk/libstage/model_blobfinder.cc 2008-07-02 21:41:39 UTC
(rev 6742)
@@ -25,6 +25,8 @@
static const unsigned int DEFAULT_BLOBFINDERSCANWIDTH = 80;
static const unsigned int DEFAULT_BLOBFINDERSCANHEIGHT = 60;
+Option StgModelBlobfinder::showBlobData( "Show Blobfinder", "show_blob", "",
true );
+
/**
@ingroup model
@defgroup model_blobfinder Blobfinder model
@@ -97,6 +99,8 @@
// leave the color filter array empty initally - this tracks all colors
colors = g_array_new( false, true, sizeof(stg_color_t) );
+
+ registerOption( &showBlobData );
}
@@ -298,6 +302,9 @@
void StgModelBlobfinder::DataVisualize( void )
{
+ if ( !showBlobData )
+ return;
+
if( debug )
{
// draw the FOV
Modified: code/stage/trunk/libstage/model_camera.cc
===================================================================
--- code/stage/trunk/libstage/model_camera.cc 2008-07-02 21:09:50 UTC (rev
6741)
+++ code/stage/trunk/libstage/model_camera.cc 2008-07-02 21:41:39 UTC (rev
6742)
@@ -16,7 +16,7 @@
#include <sstream>
#include <iomanip>
-Option StgModelCamera::ShowCamera( "Show Camera", "show_camera", "", true );
+Option StgModelCamera::showCameraData( "Show Camera Data", "show_camera", "",
true );
//caclulate the corss product, and store results in the first vertex
void cross( float& x1, float& y1, float& z1, float x2, float y2, float z2 )
@@ -70,7 +70,7 @@
//TODO can't draw this as it blocks the laser
SetGeom( geom );
- RegisterOption( &ShowCamera );
+ registerOption( &showCameraData );
Startup();
}
@@ -181,7 +181,7 @@
//TODO create lines outlining camera frustrum, then iterate over each depth
measurement and create a square
void StgModelCamera::DataVisualize( void )
{
- if( _frame_data == NULL || !ShowCamera )
+ if( _frame_data == NULL || !showCameraData )
return;
// TODO - shift to global CS?
Modified: code/stage/trunk/libstage/model_fiducial.cc
===================================================================
--- code/stage/trunk/libstage/model_fiducial.cc 2008-07-02 21:09:50 UTC (rev
6741)
+++ code/stage/trunk/libstage/model_fiducial.cc 2008-07-02 21:41:39 UTC (rev
6742)
@@ -23,6 +23,8 @@
const stg_radians_t DEFAULT_FIDUCIAL_FOV = M_PI;
const stg_watts_t DEFAULT_FIDUCIAL_WATTS = 10.0;
+Option StgModelFiducial::showFiducialData( "Show Fiducial", "show_fiducial",
"", true );
+
/**
@ingroup model
@defgroup model_fiducial Fiducial detector model
@@ -85,6 +87,8 @@
key = 0;
data = g_array_new( false, true, sizeof(stg_fiducial_t) );
+
+ registerOption( &showFiducialData );
}
StgModelFiducial::~StgModelFiducial( void )
@@ -243,6 +247,9 @@
void StgModelFiducial::DataVisualize()
{
+ if ( !showFiducialData )
+ return;
+
// draw the FOV
// GLUquadric* quadric = gluNewQuadric();
Modified: code/stage/trunk/libstage/model_laser.cc
===================================================================
--- code/stage/trunk/libstage/model_laser.cc 2008-07-02 21:09:50 UTC (rev
6741)
+++ code/stage/trunk/libstage/model_laser.cc 2008-07-02 21:41:39 UTC (rev
6742)
@@ -33,7 +33,7 @@
//static const char COLOR[] = "steel blue";
//static const char FILL_COLOR[] = "powder blue";
-Option StgModelLaser::ShowLaserData( "Show Laser Data", "show_laser", "", true
);
+Option StgModelLaser::showLaserData( "Show Laser Data", "show_laser", "", true
);
/**
@ingroup model
@@ -106,7 +106,7 @@
data_dl = glGenLists(1);
- RegisterOption( &ShowLaserData );
+ registerOption( &showLaserData );
}
@@ -302,7 +302,7 @@
void StgModelLaser::DataVisualize( void )
{
- if ( !ShowLaserData )
+ if ( !showLaserData )
return;
if( ! (samples && sample_count) )
Modified: code/stage/trunk/libstage/model_position.cc
===================================================================
--- code/stage/trunk/libstage/model_position.cc 2008-07-02 21:09:50 UTC (rev
6741)
+++ code/stage/trunk/libstage/model_position.cc 2008-07-02 21:41:39 UTC (rev
6742)
@@ -81,7 +81,6 @@
const stg_position_localization_mode_t POSITION_LOCALIZATION_DEFAULT =
STG_POSITION_LOCALIZATION_GPS;
const stg_position_drive_mode_t POSITION_DRIVE_DEFAULT =
STG_POSITION_DRIVE_DIFFERENTIAL;
-
StgModelPosition::StgModelPosition( StgWorld* world,
StgModel* parent )
: StgModel( world, parent, MODEL_TYPE_POSITION )
Modified: code/stage/trunk/libstage/model_ranger.cc
===================================================================
--- code/stage/trunk/libstage/model_ranger.cc 2008-07-02 21:09:50 UTC (rev
6741)
+++ code/stage/trunk/libstage/model_ranger.cc 2008-07-02 21:41:39 UTC (rev
6742)
@@ -92,7 +92,9 @@
static const char RANGER_CONFIG_COLOR[] = "gray90";
static const char RANGER_GEOM_COLOR[] = "orange";
+Option StgModelRanger::showRangerData( "Show Ranger Data", "show_ranger", "",
true );
+
StgModelRanger::StgModelRanger( StgWorld* world,
StgModel* parent )
: StgModel( world, parent, MODEL_TYPE_RANGER )
@@ -135,6 +137,8 @@
sensors[c].fov = (2.0*M_PI)/(sensor_count+1);
sensors[c].ray_count = DEFAULT_RANGER_RAYCOUNT;
}
+
+ registerOption( &showRangerData );
}
StgModelRanger::~StgModelRanger()
@@ -310,6 +314,9 @@
void StgModelRanger::DataVisualize( void )
{
+ if ( !showRangerData )
+ return;
+
if( ! (samples && sensors && sensor_count) )
return;
Modified: code/stage/trunk/libstage/stage.hh
===================================================================
--- code/stage/trunk/libstage/stage.hh 2008-07-02 21:09:50 UTC (rev 6741)
+++ code/stage/trunk/libstage/stage.hh 2008-07-02 21:41:39 UTC (rev 6742)
@@ -1206,7 +1206,7 @@
int gui_mask;
/// Register an Option for pickup by the GUI
- void RegisterOption( Option* opt ) { drawOptions.push_back( opt ); }
+ void registerOption( Option* opt ) { drawOptions.push_back( opt ); }
StgModel* parent; //< the model that owns this one, possibly NULL
@@ -2094,6 +2094,7 @@
// predicate for ray tracing
static bool BlockMatcher( StgBlock* testblock, StgModel* finder
);
+ static Option showBlobData;
public:
unsigned int scan_width;
@@ -2207,8 +2208,7 @@
stg_radians_t fov;
uint32_t resolution;
- // Options
- static Option ShowLaserData;
+ static Option showLaserData;
public:
static const char* typestr;
@@ -2380,7 +2380,9 @@
virtual void DataVisualize();
GArray* data;
-
+
+ static Option showFiducialData;
+
public:
static const char* typestr;
// constructor
@@ -2437,6 +2439,10 @@
uint32_t sensor_count;
stg_ranger_sensor_t* sensors;
stg_meters_t* samples;
+
+ private:
+ static Option showRangerData;
+
};
// BLINKENLIGHT MODEL ----------------------------------------------------
@@ -2448,6 +2454,7 @@
double period;
bool on;
+ static Option showBlinkenData;
public:
static const char* typestr;
@@ -2458,7 +2465,7 @@
virtual void Load();
virtual void Update();
- virtual void Draw( uint32_t flags, StgCanvas* canvas );
+ virtual void DataVisualize();
};
// CAMERA MODEL ----------------------------------------------------
@@ -2486,7 +2493,7 @@
GLfloat* _camera_quads;
GLubyte* _camera_colors;
- static Option ShowCamera;
+ static Option showCameraData;
StgPerspectiveCamera _camera;
int _yaw_offset; //position camera is mounted at
@@ -2557,7 +2564,6 @@
stg_position_drive_mode_t drive_mode;
stg_position_localization_mode_t localization_mode; ///< global
or local mode
stg_velocity_t integration_error; ///< errors to apply in
simple odometry model
-
public:
static const char* typestr;
// constructor
Modified: code/stage/trunk/libstage/worldgui.cc
===================================================================
--- code/stage/trunk/libstage/worldgui.cc 2008-07-02 21:09:50 UTC (rev
6741)
+++ code/stage/trunk/libstage/worldgui.cc 2008-07-02 21:41:39 UTC (rev
6742)
@@ -422,9 +422,8 @@
oDlg->callback( optionsDlgCb, worldGui );
oDlg->setOptions( worldGui->drawOptions );
oDlg->showAllOpt( &worldGui->canvas->visualizeAll );
- oDlg->show();
-
worldGui->oDlg = oDlg;
+ oDlg->show();
}
else {
worldGui->oDlg->show(); // bring it to front
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