Revision: 7858
http://playerstage.svn.sourceforge.net/playerstage/?rev=7858&view=rev
Author: robotos
Date: 2009-06-18 14:32:26 +0000 (Thu, 18 Jun 2009)
Log Message:
-----------
avoid rendering of rays if headless
Modified Paths:
--------------
code/gazebo/trunk/libgazebo/Server.cc
code/gazebo/trunk/server/sensors/ray/RaySensor.cc
Modified: code/gazebo/trunk/libgazebo/Server.cc
===================================================================
--- code/gazebo/trunk/libgazebo/Server.cc 2009-06-18 13:04:08 UTC (rev
7857)
+++ code/gazebo/trunk/libgazebo/Server.cc 2009-06-18 14:32:26 UTC (rev
7858)
@@ -127,8 +127,7 @@
std::cout << "directory [" << this->filename
<< "] already exists (previous crash?)\n"
<< "but the owner gazebo server (pid=" << pid << ") is not
running.\n"
- << "deleting the directory [" << this-> filename
- << " old information" ;
+ << "deleting the old information of the directory [" << this->
filename << "]\n";
// remove the existing directory.
std::string cmd = "rm -rf '" + this->filename + "'";
Modified: code/gazebo/trunk/server/sensors/ray/RaySensor.cc
===================================================================
--- code/gazebo/trunk/server/sensors/ray/RaySensor.cc 2009-06-18 13:04:08 UTC
(rev 7857)
+++ code/gazebo/trunk/server/sensors/ray/RaySensor.cc 2009-06-18 14:32:26 UTC
(rev 7858)
@@ -205,16 +205,19 @@
ray = new RayGeom(this->body, (**this->displayRaysP) == "lines");
- if ((**this->displayRaysP) == "fan")
+ if (this->rayFan and this->rayFanOutline)
{
- if (i == 0)
+ if ((**this->displayRaysP) == "fan")
{
- this->rayFan->AddPoint(start);
- this->rayFanOutline->AddPoint(start);
+ if (i == 0)
+ {
+ this->rayFan->AddPoint(start);
+ this->rayFanOutline->AddPoint(start);
+ }
+
+ this->rayFan->AddPoint(end);
+ this->rayFanOutline->AddPoint(end);
}
-
- this->rayFan->AddPoint(end);
- this->rayFanOutline->AddPoint(end);
}
ray->SetPoints(start, end);
@@ -223,16 +226,19 @@
}
}
- if ((**this->displayRaysP) == "fan")
+ if (this->rayFan and this->rayFanOutline)
{
- this->rayFan->AddPoint(this->rayFan->GetPoint(0));
- this->rayFan->setMaterial("Gazebo/BlueLaser");
+ if ((**this->displayRaysP) == "fan")
+ {
+ this->rayFan->AddPoint(this->rayFan->GetPoint(0));
+ this->rayFan->setMaterial("Gazebo/BlueLaser");
- this->rayFanOutline->AddPoint(this->rayFanOutline->GetPoint(0));
- this->rayFanOutline->setMaterial("Gazebo/BlueEmissive");
+ this->rayFanOutline->AddPoint(this->rayFanOutline->GetPoint(0));
+ this->rayFanOutline->setMaterial("Gazebo/BlueEmissive");
- this->visualNode->AttachObject(this->rayFan);
- this->visualNode->AttachObject(this->rayFanOutline);
+ this->visualNode->AttachObject(this->rayFan);
+ this->visualNode->AttachObject(this->rayFanOutline);
+ }
}
}
@@ -416,17 +422,20 @@
this, &UpdateCallback );
ode->UnlockMutex();
- if ((**this->displayRaysP) == "fan")
- {
- i = 1;
- for (iter = this->rays.begin(); iter != this->rays.end(); iter++, i++)
- {
- (*iter)->Update();
+ if (this->rayFan and this->rayFanOutline)
+ {
+ if ((**this->displayRaysP) == "fan")
+ {
+ i = 1;
+ for (iter = this->rays.begin(); iter != this->rays.end(); iter++, i++)
+ {
+ (*iter)->Update();
- (*iter)->GetRelativePoints(a,b);
+ (*iter)->GetRelativePoints(a,b);
- this->rayFan->SetPoint(i,b);
- this->rayFanOutline->SetPoint(i,b);
+ this->rayFan->SetPoint(i,b);
+ this->rayFanOutline->SetPoint(i,b);
+ }
}
}
}
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