Revision: 8950
http://playerstage.svn.sourceforge.net/playerstage/?rev=8950&view=rev
Author: jpgr87
Date: 2010-10-25 04:24:44 +0000 (Mon, 25 Oct 2010)
Log Message:
-----------
Applied patch #3091932: Fixed unit conversions in sicklms200
Modified Paths:
--------------
code/player/trunk/server/drivers/laser/sicklms200.cc
Modified: code/player/trunk/server/drivers/laser/sicklms200.cc
===================================================================
--- code/player/trunk/server/drivers/laser/sicklms200.cc 2010-10-25
04:22:22 UTC (rev 8949)
+++ code/player/trunk/server/drivers/laser/sicklms200.cc 2010-10-25
04:24:44 UTC (rev 8950)
@@ -657,10 +657,10 @@
reinterpret_cast<player_laser_config_t *> (data);
this->intensity = config->intensity;
- this->scan_res = (int) rint(RTOD(config->resolution)*100);
+ this->scan_res = (int) rint((config->resolution)*1);
this->min_angle = (int)rint(RTOD(config->min_angle)*100);
this->max_angle = (int)rint(RTOD(config->max_angle)*100);
- this->range_res = (int) (config->range_res*1000);
+ this->range_res = (int) (config->range_res*1);
printf("range_res: %f %d\n", config->range_res, this->range_res);
if(this->CheckScanConfig() != 0)
@@ -710,7 +710,7 @@
config.max_range = 150.0;
else
{
- PLAYER_WARN("Invalid range_res!");
+ PLAYER_WARN1("Invalid range_res (%d) in ProcessMessage.",
this->range_res);
config.max_range = 8.0;
}
config.range_res = ((double)this->range_res)/1000.0;
@@ -796,7 +796,7 @@
data.max_range = 150.0;
else
{
- PLAYER_WARN("Invalid range_res!");
+ PLAYER_WARN1("Invalid range_res (%d) in Main().", this->range_res);
data.max_range = 8.0;
}
data.resolution = DTOR(this->scan_res / 1e2);
@@ -1535,7 +1535,7 @@
return 0;
}
- PLAYER_MSG0(2,"Sending new resolution to device.");
+ PLAYER_MSG1(2,"Sending new resolution %d to device.", res);
for (tries = 0; tries < DEFAULT_LASER_RETRIES; tries++)
{
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