Revision: 7943
http://playerstage.svn.sourceforge.net/playerstage/?rev=7943&view=rev
Author: gbiggs
Date: 2009-07-03 00:09:55 +0000 (Fri, 03 Jul 2009)
Log Message:
-----------
Applied patch #2814442
Modified Paths:
--------------
code/player/trunk/server/drivers/position/mbicp/mbicp_driver.cc
Modified: code/player/trunk/server/drivers/position/mbicp/mbicp_driver.cc
===================================================================
--- code/player/trunk/server/drivers/position/mbicp/mbicp_driver.cc
2009-07-02 23:50:06 UTC (rev 7942)
+++ code/player/trunk/server/drivers/position/mbicp/mbicp_driver.cc
2009-07-03 00:09:55 UTC (rev 7943)
@@ -346,36 +346,48 @@
this->errt_out = static_cast<float>
(cf->ReadFloat(section, "errt_out", 0.0001));
this->IterSmoothConv = cf->ReadInt(section,
"IterSmoothConv", 2);
this->laserPoseTsc.x = static_cast<float>
(cf->ReadFloat(section, "laserPose_x", 0.16));
- this->laserPoseTsc.y = static_cast<float>
(cf->ReadFloat(section, "laserPose_y", 0));
- this->laserPoseTsc.tita = static_cast<float>
(cf->ReadFloat(section, "laserPose_th", 0));
+ this->laserPoseTsc.y = static_cast<float>
(cf->ReadFloat(section, "laserPose_y", 0));
+ this->laserPoseTsc.tita = static_cast<float>
(cf->ReadFloat(section, "laserPose_th", 0));
- if(cf->ReadDeviceAddr(&(posicion_addr), section, "provides",
- PLAYER_POSITION2D_CODE, -1, NULL) != 0){
- this->SetError(-1);
- return;
- }
+ if(cf->ReadDeviceAddr(&(posicion_addr), section, "provides",
+ PLAYER_POSITION2D_CODE, -1, NULL) != 0){
+ this->SetError(-1);
+ return;
+ }
- odom = NULL;
- if(cf->ReadDeviceAddr(&odom_addr, section, "requires",
- PLAYER_POSITION2D_CODE, -1, NULL) != 0){
- SetError(-1);
- return;
- }
+ odom = NULL;
+ if(cf->ReadDeviceAddr(&odom_addr, section, "requires",
+ PLAYER_POSITION2D_CODE, -1, NULL) != 0){
+ SetError(-1);
+ return;
+ }
- laser = NULL;
- if(cf->ReadDeviceAddr(&laser_addr, section, "requires",
- PLAYER_LASER_CODE, -1, NULL) != 0){
- SetError(-1);
- }
+ laser = NULL;
+ if(cf->ReadDeviceAddr(&laser_addr, section, "requires",
+ PLAYER_LASER_CODE, -1, NULL) != 0){
+ SetError(-1);
+ }
- return;
+ currentScan.ranges = NULL;
+ currentScan.intensity = NULL;
+ previousScan.ranges = NULL;
+ previousScan.intensity = NULL;
+
+ return;
}
////////////////////////////////////////////////////////////////////////////////
mbicp::~mbicp(){
- return;
+ if (currentScan.ranges != NULL)
+ delete[] currentScan.ranges;
+ if (currentScan.intensity != NULL)
+ delete[] currentScan.intensity;
+ if (previousScan.ranges != NULL)
+ delete[] previousScan.ranges;
+ if (previousScan.intensity != NULL)
+ delete[] previousScan.intensity;
}
@@ -553,6 +565,9 @@
currentScan.intensity_count = data.scan.intensity_count;
currentScan.id = data.scan.id;
+ currentScan.ranges = new float[data.scan.ranges_count];
+ currentScan.intensity = new uint8_t[data.scan.ranges_count];
+
for (unsigned int i=0; i < currentScan.ranges_count; i++){
currentScan.ranges[i] = data.scan.ranges[i];
currentScan.intensity[i] = data.scan.intensity[i];
@@ -647,8 +662,12 @@
}
scanmatchingPose = Tsc2playerPose(scanmatchingPoseTsc);
+ delete[] previousScan.ranges;
+ delete[] previousScan.intensity;
previousScan = currentScan;
previousPose = currentPose;
+ currentScan.ranges = NULL;
+ currentScan.intensity = NULL;
}
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