Revision: 8289
http://playerstage.svn.sourceforge.net/playerstage/?rev=8289&view=rev
Author: rtv
Date: 2009-10-13 22:19:28 +0000 (Tue, 13 Oct 2009)
Log Message:
-----------
fixed bug in gripper related to subs/unsubs
Modified Paths:
--------------
code/stage/trunk/libstage/model_blinkenlight.cc
code/stage/trunk/libstage/model_blobfinder.cc
code/stage/trunk/libstage/model_fiducial.cc
code/stage/trunk/libstage/model_gripper.cc
code/stage/trunk/libstage/model_ranger.cc
Modified: code/stage/trunk/libstage/model_blinkenlight.cc
===================================================================
--- code/stage/trunk/libstage/model_blinkenlight.cc 2009-10-13 22:00:09 UTC
(rev 8288)
+++ code/stage/trunk/libstage/model_blinkenlight.cc 2009-10-13 22:19:28 UTC
(rev 8289)
@@ -103,10 +103,9 @@
void ModelBlinkenlight::Update( void )
{
- Model::Update();
-
// invert
this->on = ! this->on;
+ Model::Update();
}
Modified: code/stage/trunk/libstage/model_blobfinder.cc
===================================================================
--- code/stage/trunk/libstage/model_blobfinder.cc 2009-10-13 22:00:09 UTC
(rev 8288)
+++ code/stage/trunk/libstage/model_blobfinder.cc 2009-10-13 22:19:28 UTC
(rev 8289)
@@ -176,8 +176,6 @@
void ModelBlobfinder::Update( void )
{
- Model::Update();
-
// generate a scan for post-processing into a blob image
stg_raytrace_result_t* samples = new stg_raytrace_result_t[scan_width];
@@ -263,6 +261,8 @@
}
delete [] samples;
+
+ Model::Update();
}
Modified: code/stage/trunk/libstage/model_fiducial.cc
===================================================================
--- code/stage/trunk/libstage/model_fiducial.cc 2009-10-13 22:00:09 UTC (rev
8288)
+++ code/stage/trunk/libstage/model_fiducial.cc 2009-10-13 22:19:28 UTC (rev
8289)
@@ -208,8 +208,6 @@
//
void ModelFiducial::Update( void )
{
- Model::Update();
-
PRINT_DEBUG( "fiducial update" );
if( subs < 1 )
@@ -220,6 +218,8 @@
FOR_EACH( it, world->models_with_fiducials )
AddModelIfVisible( *it );
+
+ Model::Update();
}
void ModelFiducial::Load( void )
Modified: code/stage/trunk/libstage/model_gripper.cc
===================================================================
--- code/stage/trunk/libstage/model_gripper.cc 2009-10-13 22:00:09 UTC (rev
8288)
+++ code/stage/trunk/libstage/model_gripper.cc 2009-10-13 22:19:28 UTC (rev
8289)
@@ -201,15 +201,6 @@
void ModelGripper::Update()
{
- //return;
-
- // no work to do if we're unsubscribed
- if( subs < 1 )
- {
- Model::Update();
- return;
- }
-
float start_paddle_position = cfg.paddle_position;
float start_lift_position = cfg.lift_position;
Modified: code/stage/trunk/libstage/model_ranger.cc
===================================================================
--- code/stage/trunk/libstage/model_ranger.cc 2009-10-13 22:00:09 UTC (rev
8288)
+++ code/stage/trunk/libstage/model_ranger.cc 2009-10-13 22:19:28 UTC (rev
8289)
@@ -254,14 +254,6 @@
void ModelRanger::Update( void )
{
- Model::Update();
-
- if( subs < 1 )
- return;
-
- if( sensors.size() < 1 )
- return;
-
// raytrace new range data for all sensors
FOR_EACH( it, sensors )
{
@@ -277,6 +269,8 @@
s.range = std::max( ray.range, s.bounds_range.min );
}
+
+ Model::Update();
}
void ModelRanger::Print( char* prefix )
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