Revision: 9062
http://playerstage.svn.sourceforge.net/playerstage/?rev=9062&view=rev
Author: jpgr87
Date: 2011-07-16 23:57:00 +0000 (Sat, 16 Jul 2011)
Log Message:
-----------
Added vmapfile format to vmapfile driver description, cleaned up indentation in
gridmap.h, addded a couple of comments to the TimedRequest() function in
libplayercore
Modified Paths:
--------------
code/player/trunk/libplayercore/device.cc
code/player/trunk/server/drivers/map/gridmap.h
code/player/trunk/server/drivers/map/vmapfile.cc
Modified: code/player/trunk/libplayercore/device.cc
===================================================================
--- code/player/trunk/libplayercore/device.cc 2011-07-07 00:01:18 UTC (rev
9061)
+++ code/player/trunk/libplayercore/device.cc 2011-07-16 23:57:00 UTC (rev
9062)
@@ -333,9 +333,11 @@
dri->Update();
}
+ // Wait until the message arrives in the response queue
if((msg = resp_queue->Pop()))
break;
+ // Or until we reach our timeout
if (timeout > 0)
{
GlobalTime->GetTimeDouble(&curr_time);
Modified: code/player/trunk/server/drivers/map/gridmap.h
===================================================================
--- code/player/trunk/server/drivers/map/gridmap.h 2011-07-07 00:01:18 UTC
(rev 9061)
+++ code/player/trunk/server/drivers/map/gridmap.h 2011-07-16 23:57:00 UTC
(rev 9062)
@@ -50,58 +50,59 @@
class Sonar
{
public:
-double px,py,th;
-double sonar_treshold; //default to 4.5
-double sonar_aperture; // 30 degrees
-double sensor_model(double x,double y,double r);
+ double px,py,th;
+ double sonar_treshold; //default to 4.5
+ double sonar_aperture; // 30 degrees
+ double sensor_model(double x,double y,double r);
+
Sonar()
{
- sonar_treshold=4.5;
- sonar_aperture=0.5235987;
+ sonar_treshold=4.5;
+ sonar_aperture=0.5235987;
}
};
class MAP_POINT
{
public:
-int x;
-int y; // coordinates on map
+ int x;
+ int y; // coordinates on map
-MAP_POINT(int x1,int y1)
-{
- x=x1;
- y=y1;
-}
+ MAP_POINT(int x1,int y1)
+ {
+ x=x1;
+ y=y1;
+ }
- bool operator<(const MAP_POINT &b) const {
- if (x < b.x) return(1);
- else if (x == b.x) return(y < b.y);
- else return(0);
+ bool operator<(const MAP_POINT &b) const
+ {
+ if (x < b.x)
+ return(1);
+ else if (x == b.x)
+ return(y < b.y);
+ else
+ return(0);
}
-
};
class MAP_POSE
{
public:
-double px;
-double py;
-double pa; // where the robot was when this point was added
-double P; // occupancy probability
+ double px;
+ double py;
+ double pa; // where the robot was when this point was added
+ double P; // occupancy probability
- MAP_POSE()
- {pa=px=py=P=0;}
+ MAP_POSE()
+ {pa=px=py=P=0;}
-MAP_POSE(double px1,
- double py1,
- double pa1,
- double P1) {
- pa=pa1;
- px=px1;
- py=py1;
- P=P1;
- }
-
+ MAP_POSE(double px1, double py1, double pa1, double P1)
+ {
+ pa=pa1;
+ px=px1;
+ py=py1;
+ P=P1;
+ }
};
@@ -111,21 +112,23 @@
/// the map is defined as x,y -> pose (px,py,pa,P)
///
public:
-int width;
-int height;
-int startx;
-int starty;
-float scale; //default to 0.028
-float sonar_treshold; //default to 4.5
-Map();
-Map(int width,
+ int width;
+ int height;
+ int startx;
+ int starty;
+ float scale; //default to 0.028
+ float sonar_treshold; //default to 4.5
+
+ Map();
+ Map(int width,
int height,
int startx,
int starty,
int scale,
int sonar_treshold);
-~Map();
-player_map_data_t ToPlayer();
+ ~Map();
+
+ player_map_data_t ToPlayer();
};
Map::~Map() {
@@ -133,13 +136,13 @@
Map::Map()
{
-//some default values (not always good)
-width=800;
-height=800;
-startx=0;
-starty=0;
-scale=0.028f;
-sonar_treshold=4.5;
+ //some default values (not always good)
+ width=800;
+ height=800;
+ startx=0;
+ starty=0;
+ scale=0.028f;
+ sonar_treshold=4.5;
}
Map::Map(int width,
@@ -149,15 +152,11 @@
int scale,
int sonar_treshold)
{
-std::cout<< "not implemented yet" << std::endl;
+ std::cout<< "not implemented yet" << std::endl;
}
-
-
double Sonar::sensor_model(double x,double y,double r)
{
-return(
-exp((-pow(x,2)/r)-(pow(y,2)/sonar_aperture))/((double)1.7)
-);
-
+ return(exp((-pow(x,2)/r)-(pow(y,2)/sonar_aperture))/((double)1.7));
}
+
Modified: code/player/trunk/server/drivers/map/vmapfile.cc
===================================================================
--- code/player/trunk/server/drivers/map/vmapfile.cc 2011-07-07 00:01:18 UTC
(rev 9061)
+++ code/player/trunk/server/drivers/map/vmapfile.cc 2011-07-16 23:57:00 UTC
(rev 9062)
@@ -32,8 +32,14 @@
The vmapfile driver reads a vector map from a text file and
provides the map to others via the @ref interface_map interface.
-The format of the text file is...
+The text file should contain lines in the format
+x1 y1 x2 y2
+
+where (x1,y1) and (x2,y2) are the cartesian coordinates representing
+the endpoints of each vector. The endpoints are read in as floating
+point numbers, so they can have decimal values.
+
@par Compile-time dependencies
- None
@@ -283,6 +289,9 @@
player_msghdr * hdr,
void * data)
{
+ HANDLE_CAPABILITY_REQUEST(device_addr, resp_queue, hdr, data,
PLAYER_MSGTYPE_REQ, PLAYER_CAPABILITIES_REQ);
+ HANDLE_CAPABILITY_REQUEST(device_addr, resp_queue, hdr, data,
PLAYER_MSGTYPE_REQ, PLAYER_MAP_REQ_GET_VECTOR);
+
// Is it a request for the map?
if(Message::MatchMessage(hdr, PLAYER_MSGTYPE_REQ,
PLAYER_MAP_REQ_GET_VECTOR,
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