Revision: 7740
http://playerstage.svn.sourceforge.net/playerstage/?rev=7740&view=rev
Author: asadat
Date: 2009-05-29 21:09:08 +0000 (Fri, 29 May 2009)
Log Message:
-----------
modified GetSayStrings() in Model class
Modified Paths:
--------------
code/stage/trunk/examples/ctrl/CMakeLists.txt
code/stage/trunk/libstage/stage.hh
code/stage/trunk/webstage/webstage.cc
Modified: code/stage/trunk/examples/ctrl/CMakeLists.txt
===================================================================
--- code/stage/trunk/examples/ctrl/CMakeLists.txt 2009-05-29 13:08:16 UTC
(rev 7739)
+++ code/stage/trunk/examples/ctrl/CMakeLists.txt 2009-05-29 21:09:08 UTC
(rev 7740)
@@ -5,6 +5,7 @@
sink
source
wander
+
)
# need plaer's wavefront planning library for this one
Modified: code/stage/trunk/libstage/stage.hh
===================================================================
--- code/stage/trunk/libstage/stage.hh 2009-05-29 13:08:16 UTC (rev 7739)
+++ code/stage/trunk/libstage/stage.hh 2009-05-29 21:09:08 UTC (rev 7740)
@@ -1879,7 +1879,8 @@
public:
stg_model_type_t GetModelType(){return type;}
- const char* GetSayString(){return say_string;}
+
+ std::string GetSayString(){return std::string(say_string);}
Visibility vis;
Modified: code/stage/trunk/webstage/webstage.cc
===================================================================
--- code/stage/trunk/webstage/webstage.cc 2009-05-29 13:08:16 UTC (rev
7739)
+++ code/stage/trunk/webstage/webstage.cc 2009-05-29 21:09:08 UTC (rev
7740)
@@ -216,45 +216,6 @@
return true;
}
- virtual bool GetLaserCfgData(const std::string& name,
-
websim::Time& t,
-
uint32_t& resolution,
- double&
fov,
-
websim::Pose& p,
-
std::string& error)
-{
-
- t = GetTime();
-
- Model* mod = world->GetModel( name.c_str() );
- if( mod )
- {
- ModelLaser* laser =
(ModelLaser*)mod->GetModel("laser:0");
-
- if(laser){
- stg_laser_cfg_t cfg = laser->GetConfig();
- resolution = cfg.resolution;
- fov = cfg.fov;
- //There is no way to access the position of the
laser
- }else{
-
- printf( "Warning: attempt to get laser config
data for unrecognized laser model of model \"%s\"\n",
- name.c_str() );
- return false;
-
-
- }
-
- }
- else{
- printf( "Warning: attempt to get laser config data for
unrecognized model \"%s\"\n",
- name.c_str() );
- return false;
- }
-
- return true;
-
- }
virtual bool GetRangerData(const std::string& name,
websim::Time& t,
std::vector<websim::Pose>& p,
@@ -309,6 +270,7 @@
double&
x,
double&
y,
double&
z,
+
websim::Pose& center,
std::string& response)
{
if(name == "sim"){
@@ -329,6 +291,9 @@
x = ext.size.x;
y = ext.size.y;
z = ext.size.z;
+ center.x = ext.pose.x;
+ center.y = ext.pose.y;
+ center.a = ext.pose.a;
}
else
{
@@ -374,13 +339,13 @@
char temp[128];
sprintf(temp,"position:%d",i);
Model *mod = world->GetModel(temp);
- if(mod->GetSayString())
+ if(mod->GetSayString() != "")
{
std::string str = temp;
str += " says: \" ";
str += mod->GetSayString();
- str += " \"\n ";
+ str += " \" ";
sayings.push_back(str);
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