Revision: 7575
http://playerstage.svn.sourceforge.net/playerstage/?rev=7575&view=rev
Author: rtv
Date: 2009-04-03 19:03:02 +0000 (Fri, 03 Apr 2009)
Log Message:
-----------
eliminated crash or assert fail in powerpack when moving outside the previous
world bounds
Modified Paths:
--------------
code/stage/trunk/libstage/powerpack.cc
code/stage/trunk/libstage/stage.hh
Modified: code/stage/trunk/libstage/powerpack.cc
===================================================================
--- code/stage/trunk/libstage/powerpack.cc 2009-04-03 08:01:42 UTC (rev
7574)
+++ code/stage/trunk/libstage/powerpack.cc 2009-04-03 19:03:02 UTC (rev
7575)
@@ -294,10 +294,11 @@
int ix = (x+width/2.0)/cellsize;
int iy = (y+height/2.0)/cellsize;
- assert( ix >= 0 );
- assert( ix < (int)columns );
- assert( iy >= 0 );
- assert( iy < (int)rows );
+ // don't accumulate if we're outside the grid
+ if( ! ix >= 0 ) return;
+ if( ! ix < columns ) return;
+ if( ! iy >= 0 ) return;
+ if( ! iy < rows ) return;
stg_joules_t* j = cells + (iy*columns + ix );
Modified: code/stage/trunk/libstage/stage.hh
===================================================================
--- code/stage/trunk/libstage/stage.hh 2009-04-03 08:01:42 UTC (rev 7574)
+++ code/stage/trunk/libstage/stage.hh 2009-04-03 19:03:02 UTC (rev 7575)
@@ -2253,7 +2253,7 @@
stg_radians_t fov;
stg_radians_t pan;
- static const char* typestr;
+ static const char* typestr;
// constructor
ModelBlobfinder( World* world,
@@ -2401,27 +2401,19 @@
struct config_t
{
Size paddle_size; ///< paddle dimensions
-
paddle_state_t paddles;
- lift_state_t lift;
-
+ lift_state_t lift;
double paddle_position; ///< 0.0 = full open, 1.0 full closed
double lift_position; ///< 0.0 = full down, 1.0 full up
-
Model* gripped;
-
- bool paddles_stalled; // true iff some solid object stopped
- // the paddles closing or opening
-
+ bool paddles_stalled; // true iff some solid object stopped the
paddles closing or opening
double close_limit; ///< How far the gripper can close. If <
1.0, the gripper has its mouth full.
bool autosnatch; ///< if true, cycle the gripper through
open-close-up-down automatically
-
double break_beam_inset[2]; ///< distance from the end of the
paddle
-
Model* beam[2]; ///< points to a model detected by the beams
Model* contact[2]; ///< pointers to a model detected by the contacts
};
-
+
private:
virtual void Update();
virtual void DataVisualize( Camera* cam );
@@ -2460,7 +2452,6 @@
/** Set the current activity of the gripper. */
void SetCommand( cmd_t cmd ) { this->cmd = cmd; }
-
/** Command the gripper paddles to close. Wrapper for SetCommand(
CMD_CLOSE ). */
void CommandClose() { SetCommand( CMD_CLOSE ); }
/** Command the gripper paddles to open. Wrapper for SetCommand(
CMD_OPEN ). */
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