Revision: 7487
http://playerstage.svn.sourceforge.net/playerstage/?rev=7487&view=rev
Author: natepak
Date: 2009-03-16 16:22:47 +0000 (Mon, 16 Mar 2009)
Log Message:
-----------
Update to the laser sensor
Modified Paths:
--------------
code/branches/federation/gazebo/server/sensors/ray/RaySensor.cc
Modified: code/branches/federation/gazebo/server/sensors/ray/RaySensor.cc
===================================================================
--- code/branches/federation/gazebo/server/sensors/ray/RaySensor.cc
2009-03-15 05:49:00 UTC (rev 7486)
+++ code/branches/federation/gazebo/server/sensors/ray/RaySensor.cc
2009-03-16 16:22:47 UTC (rev 7487)
@@ -167,22 +167,27 @@
start = (axis * this->minRangeP->GetValue()) + this->originP->GetValue();
end = (axis * this->maxRangeP->GetValue()) + this->originP->GetValue();
+ ray = new RayGeom(this->body, false);
+
this->rayFan->AddPoint(end);
this->rayFanOutline->AddPoint(end);
- ray = new RayGeom(this->body, displayRaysP->GetValue());
ray->SetPoints(start, end);
this->rays.push_back(ray);
}
+
this->rayFan->AddPoint(Vector3(0,0,0));
this->rayFan->setMaterial("Gazebo/BlueLaser");
this->rayFanOutline->AddPoint(Vector3(0,0,0));
this->rayFanOutline->setMaterial("Gazebo/BlueEmissive");
- this->visualNode->AttachObject(this->rayFan);
- this->visualNode->AttachObject(this->rayFanOutline);
+ if (**displayRaysP)
+ {
+ this->visualNode->AttachObject(this->rayFan);
+ this->visualNode->AttachObject(this->rayFanOutline);
+ }
}
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