Revision: 7829
http://playerstage.svn.sourceforge.net/playerstage/?rev=7829&view=rev
Author: gbiggs
Date: 2009-06-10 00:06:24 +0000 (Wed, 10 Jun 2009)
Log Message:
-----------
Applied patch #2803697
Modified Paths:
--------------
code/player/trunk/server/drivers/mixed/epuck/epuckInterface.cpp
code/player/trunk/server/drivers/mixed/epuck/epuckInterface.hpp
code/player/trunk/server/drivers/mixed/epuck/epuckPosition2d.cpp
code/player/trunk/server/drivers/mixed/epuck/epuckPosition2d.hpp
code/player/trunk/server/drivers/position/snd/gap_and_valley.h
Modified: code/player/trunk/server/drivers/mixed/epuck/epuckInterface.cpp
===================================================================
--- code/player/trunk/server/drivers/mixed/epuck/epuckInterface.cpp
2009-06-09 23:57:21 UTC (rev 7828)
+++ code/player/trunk/server/drivers/mixed/epuck/epuckInterface.cpp
2009-06-10 00:06:24 UTC (rev 7829)
@@ -15,6 +15,8 @@
#include "epuckInterface.hpp"
+const float EpuckInterface::EPUCK_DIAMETER = 0.07;
+
EpuckInterface::EpuckInterface(const SerialPort* const serialPort)
:serialPort(serialPort)
{}
Modified: code/player/trunk/server/drivers/mixed/epuck/epuckInterface.hpp
===================================================================
--- code/player/trunk/server/drivers/mixed/epuck/epuckInterface.hpp
2009-06-09 23:57:21 UTC (rev 7828)
+++ code/player/trunk/server/drivers/mixed/epuck/epuckInterface.hpp
2009-06-10 00:06:24 UTC (rev 7829)
@@ -59,7 +59,7 @@
const SerialPort* const serialPort;
/// Diameter of e-puck body [m].
- static const float EPUCK_DIAMETER = 0.07;
+ static const float EPUCK_DIAMETER;
/// Request codes acceptable by e-puck.
enum Request
Modified: code/player/trunk/server/drivers/mixed/epuck/epuckPosition2d.cpp
===================================================================
--- code/player/trunk/server/drivers/mixed/epuck/epuckPosition2d.cpp
2009-06-09 23:57:21 UTC (rev 7828)
+++ code/player/trunk/server/drivers/mixed/epuck/epuckPosition2d.cpp
2009-06-10 00:06:24 UTC (rev 7829)
@@ -20,6 +20,17 @@
#define PI 3.141592654
#define DOIS_PI 6.283185308
+// Diameter of e-puck wheels [m]
+const float EpuckPosition2d::WHEEL_DIAMETER = 0.0412;
+// Distance between e-puck wheels [m]
+const float EpuckPosition2d::TRACK = 0.05255;
+// Wheel radius divided by TRACK [m]
+const float EpuckPosition2d::r_DIV_L = 0.392007612;
+// Half of wheel radius [m]
+const float EpuckPosition2d::r_DIV_2 = 0.0103;
+// Angular displacement of one motor step [rad]
+const float EpuckPosition2d::STEP_ANG_DISP = 6.283185308e-3;
+
EpuckPosition2d::EpuckPosition2d(const SerialPort* const serialPort)
:EpuckInterface(serialPort)
{
Modified: code/player/trunk/server/drivers/mixed/epuck/epuckPosition2d.hpp
===================================================================
--- code/player/trunk/server/drivers/mixed/epuck/epuckPosition2d.hpp
2009-06-09 23:57:21 UTC (rev 7828)
+++ code/player/trunk/server/drivers/mixed/epuck/epuckPosition2d.hpp
2009-06-10 00:06:24 UTC (rev 7829)
@@ -112,19 +112,19 @@
BodyGeometry geometry;
// Diameter of e-puck wheels [m]
- static const float WHEEL_DIAMETER = 0.0412;
+ static const float WHEEL_DIAMETER;
// Distance between e-puck wheels [m]
- static const float TRACK = 0.05255;
+ static const float TRACK;
// Wheel radius divided by TRACK [m]
- static const float r_DIV_L = 0.392007612;
+ static const float r_DIV_L;
// Half of wheel radius [m]
- static const float r_DIV_2 = 0.0103;
+ static const float r_DIV_2;
// Angular displacement of one motor step [rad]
- static const float STEP_ANG_DISP = 6.283185308e-3;
+ static const float STEP_ANG_DISP;
};
#endif
Modified: code/player/trunk/server/drivers/position/snd/gap_and_valley.h
===================================================================
--- code/player/trunk/server/drivers/position/snd/gap_and_valley.h
2009-06-09 23:57:21 UTC (rev 7828)
+++ code/player/trunk/server/drivers/position/snd/gap_and_valley.h
2009-06-10 00:06:24 UTC (rev 7829)
@@ -30,10 +30,8 @@
extern int getSectorsBetween( int iS1, int iS2, int iSMax );
extern int getSectorsBetweenDirected( int iS1, int iS2, int iSMax, int
iDirection );
-class Gap{
- protected :
- ;
-
+class Gap
+{
public :
int m_iSector;
double m_dist;
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