Revision: 8644
http://playerstage.svn.sourceforge.net/playerstage/?rev=8644&view=rev
Author: thjc
Date: 2010-05-03 17:37:09 +0000 (Mon, 03 May 2010)
Log Message:
-----------
Applied patch 2964666: buggy_geom option for sonartoranger driver
Modified Paths:
--------------
code/player/trunk/server/drivers/ranger/sonartoranger.cc
Modified: code/player/trunk/server/drivers/ranger/sonartoranger.cc
===================================================================
--- code/player/trunk/server/drivers/ranger/sonartoranger.cc 2010-05-03
17:34:19 UTC (rev 8643)
+++ code/player/trunk/server/drivers/ranger/sonartoranger.cc 2010-05-03
17:37:09 UTC (rev 8644)
@@ -56,7 +56,11 @@
@par Configuration file options
- - None
+- buggy_geom (integer)
+ - Default: 0
+ - If set to 1, the pz, proll and ppitch fields will be set to 0.0
+ - This option is added to provide compatibility with old buggy sonar drivers
+ that do not clean unused geometry structure fields
@par Example
@@ -107,6 +111,7 @@
int ConvertData (player_sonar_data_t *data);
private:
int skip_rq;
+ int buggy_geom;
};
// Initialisation function
@@ -137,6 +142,7 @@
SetError (-1);
return;
}
+ this->buggy_geom = cf->ReadInt(section, "buggy_geom", 0);
}
// Setup function
@@ -228,6 +234,12 @@
deviceGeom.element_poses[ii].proll = geom->poses[ii].proll;
deviceGeom.element_poses[ii].ppitch = geom->poses[ii].ppitch;
deviceGeom.element_poses[ii].pyaw = geom->poses[ii].pyaw;
+ if (this->buggy_geom)
+ {
+ deviceGeom.element_poses[ii].pz = 0.0;
+ deviceGeom.element_poses[ii].proll = 0.0;
+ deviceGeom.element_poses[ii].ppitch = 0.0;
+ }
}
// Even though the sensor sizes are all zero, they're still there
deviceGeom.element_sizes_count = geom->poses_count;
@@ -360,4 +372,4 @@
}
return -1;
- }
+}
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