Revision: 7154
http://playerstage.svn.sourceforge.net/playerstage/?rev=7154&view=rev
Author: natepak
Date: 2008-11-17 02:00:11 +0000 (Mon, 17 Nov 2008)
Log Message:
-----------
Fixed libgazebo to work with 64bit systems. Improved debugging output
Modified Paths:
--------------
code/gazebo/trunk/libgazebo/gazebo.h
code/gazebo/trunk/player/CameraInterface.cc
code/gazebo/trunk/server/sensors/camera/StereoCameraSensor.cc
Modified: code/gazebo/trunk/libgazebo/gazebo.h
===================================================================
--- code/gazebo/trunk/libgazebo/gazebo.h 2008-11-15 03:14:43 UTC (rev
7153)
+++ code/gazebo/trunk/libgazebo/gazebo.h 2008-11-17 02:00:11 UTC (rev
7154)
@@ -58,13 +58,13 @@
class Vec3
{
/// X value
- public: double x;
+ public: float x;
/// Y value
- public: double y;
+ public: float y;
/// Z value
- public: double z;
+ public: float z;
};
@@ -75,13 +75,13 @@
public: Vec3 pos;
/// Rotation information. Roll Euler angle
- public: double roll;
+ public: float roll;
/// Rotation information. Pitch Euler angle
- public: double pitch;
+ public: float pitch;
/// Rotation information. Yaw Euler angle
- public: double yaw;
+ public: float yaw;
};
/// \brief Color class
@@ -332,7 +332,7 @@
/// Number of times the interface has been opened
public: int openCount;
- public: double time;
+ public: float time;
public: int version;
@@ -389,13 +389,13 @@
public: GazeboData head;
/// Elapsed simulation time
- public: double simTime;
+ public: float simTime;
/// Accumpated pause time (this interface may be updated with the server is
paused).
- public: double pauseTime;
+ public: float pauseTime;
/// Elapsed real time since start of simulation (from system clock)
- public: double realTime;
+ public: float realTime;
/// state of the simulation : 0 paused, 1 running -1 not_started/exiting
public: int state;
@@ -467,7 +467,7 @@
public: GazeboData head;
/// Data timestamp
- public: double time;
+ public: float time;
/// Play in a loop?
public: bool loop;
@@ -576,10 +576,10 @@
public: unsigned char image[GAZEBO_CAMERA_MAX_IMAGE_SIZE];
/// Horizontal field of view of the camera in radians
- public: double hfov;
+ public: float hfov;
/// Vertical field of view of the camera in radians
- public: double vfov;
+ public: float vfov;
/// Pose of the camera
public: Pose camera_pose;
@@ -812,25 +812,25 @@
public: GazeboData head;
/// Range scan min angle
- public: double min_angle;
+ public: float min_angle;
/// Range scan max angle
- public: double max_angle;
+ public: float max_angle;
/// Angular resolution
- public: double res_angle;
+ public: float res_angle;
/// Range resolution
- public: double res_range;
+ public: float res_range;
/// Max range value
- public: double max_range;
+ public: float max_range;
/// Number of range readings
public: int range_count;
/// Range readings
- public: double ranges[GZ_LASER_MAX_RANGES];
+ public: float ranges[GZ_LASER_MAX_RANGES];
/// Intensity readings
public: int intensity[GZ_LASER_MAX_RANGES];
@@ -842,13 +842,13 @@
public: int cmd_new_length;
/// Commanded range value
- public: double cmd_max_range;
+ public: float cmd_max_range;
/// Commaned min angle
- public: double cmd_min_angle;
+ public: float cmd_min_angle;
/// Commaned max angle
- public: double cmd_max_angle;
+ public: float cmd_max_angle;
/// Commaned range count
public: int cmd_range_count;
@@ -1299,22 +1299,22 @@
public: GazeboData head;
/// Measured pan angle (radians)
- public: double pan;
+ public: float pan;
/// Measured tilt angle (radians)
- public: double tilt;
+ public: float tilt;
/// Measured field of view (radians)
- public: double zoom;
+ public: float zoom;
/// Commanded pan angle (radians)
- public: double cmd_pan;
+ public: float cmd_pan;
/// Commanded tilt angle (radians)
- public: double cmd_tilt;
+ public: float cmd_tilt;
/// Commanded field of view (radians)
- public: double cmd_zoom;
+ public: float cmd_zoom;
};
@@ -1382,10 +1382,10 @@
public: float nearClip;
/// Horizontal field of view of the camera in radians
- public: double hfov;
+ public: float hfov;
/// Vertical field of view of the camera in radians
- public: double vfov;
+ public: float vfov;
/// Left depth map size
public: unsigned int left_depth_size;
Modified: code/gazebo/trunk/player/CameraInterface.cc
===================================================================
--- code/gazebo/trunk/player/CameraInterface.cc 2008-11-15 03:14:43 UTC (rev
7153)
+++ code/gazebo/trunk/player/CameraInterface.cc 2008-11-17 02:00:11 UTC (rev
7154)
@@ -146,8 +146,8 @@
catch (std::string e)
{
//std::ostringstream stream;
- std::cout << "Error Subscribing to Gazebo Camera Interface\n"
- << e << "\n";
+ std::cout << "Error Subscribing to Gazebo Camera Interface["
+ << this->gz_id << "]\n" << e << "\n";
//gzthrow(stream.str());
exit(0);
}
Modified: code/gazebo/trunk/server/sensors/camera/StereoCameraSensor.cc
===================================================================
--- code/gazebo/trunk/server/sensors/camera/StereoCameraSensor.cc
2008-11-15 03:14:43 UTC (rev 7153)
+++ code/gazebo/trunk/server/sensors/camera/StereoCameraSensor.cc
2008-11-17 02:00:11 UTC (rev 7154)
@@ -242,7 +242,6 @@
// Render the depth texture
for (i=2; i<4; i++)
{
-
// OgreSceneManager::_render function automatically sets farClip to 0.
// Which normally equates to infinite distance. We don't want this. So
// we have to set the distance every time.
@@ -283,8 +282,7 @@
renderSys->bindGpuProgramParameters(Ogre::GPT_FRAGMENT_PROGRAM,
pass->getFragmentProgramParameters());
}
-
-
+
this->renderTargets[i]->update();
}
@@ -299,7 +297,7 @@
if (gridNode)
gridNode->setVisible(true);
- this->FillBuffers();
+ this->FillBuffers();
if (this->saveFramesP->GetValue())
this->SaveFrame();
@@ -371,6 +369,7 @@
hardwareBuffer->unlock();
}
+
}
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