Revision: 8516
http://playerstage.svn.sourceforge.net/playerstage/?rev=8516&view=rev
Author: rtv
Date: 2010-01-19 22:57:20 +0000 (Tue, 19 Jan 2010)
Log Message:
-----------
added support for non-zero start position for model_actuator, adapted from
patch #2927857 from RAZOR
Modified Paths:
--------------
code/stage/trunk/libstage/model_actuator.cc
code/stage/trunk/libstage/stage.hh
Modified: code/stage/trunk/libstage/model_actuator.cc
===================================================================
--- code/stage/trunk/libstage/model_actuator.cc 2010-01-19 22:40:54 UTC (rev
8515)
+++ code/stage/trunk/libstage/model_actuator.cc 2010-01-19 22:57:20 UTC (rev
8516)
@@ -68,6 +68,7 @@
max_speed(1),
min_position(0),
max_position(1),
+ start_position(0),
control_mode( CONTROL_VELOCITY ),
actuator_type( TYPE_LINEAR ),
axis(0,0,0)
@@ -146,6 +147,35 @@
min_position = wf->ReadFloat( wf_entity, "min_position", 0 );
}
+ if( wf->PropertyExists( wf_entity, "start_position" ) )
+ {
+ start_position = wf->ReadFloat ( wf_entity, "start_position", 0
);
+
+ Pose desired_pose = InitialPose;
+
+ switch (actuator_type)
+ {
+ case TYPE_LINEAR:
+ {
+ double cosa = cos(desired_pose.a);
+ double sina = sin(desired_pose.a);
+
+ desired_pose.x += (axis.x * cosa - axis.y *
sina) * start_position;
+ desired_pose.y += (axis.x * sina + axis.y *
cosa) * start_position;
+ desired_pose.z += axis.z * start_position;
+ SetPose( desired_pose );
+ } break;
+
+ case TYPE_ROTATIONAL:
+ {
+ desired_pose.a += start_position;
+ SetPose( desired_pose);
+ }break;
+ default:
+ PRINT_ERR1( "unrecognized actuator type %d",
actuator_type );
+ }
+ }
+
}
void ModelActuator::Update( void )
Modified: code/stage/trunk/libstage/stage.hh
===================================================================
--- code/stage/trunk/libstage/stage.hh 2010-01-19 22:40:54 UTC (rev 8515)
+++ code/stage/trunk/libstage/stage.hh 2010-01-19 22:57:20 UTC (rev 8516)
@@ -2929,6 +2929,7 @@
double max_speed;
double min_position;
double max_position;
+ double start_position;
ControlMode control_mode;
ActuatorType actuator_type;
stg_point3_t axis;
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