Update of /cvsroot/playerstage/code/gazebo/server/models/SonyVID30
In directory
sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv29514/server/models/SonyVID30
Modified Files:
SonyVID30.cc
Log Message:
Changed libgazebo liscense to LGPL
Index: SonyVID30.cc
===================================================================
RCS file:
/cvsroot/playerstage/code/gazebo/server/models/SonyVID30/SonyVID30.cc,v
retrieving revision 1.59
retrieving revision 1.60
diff -C2 -d -r1.59 -r1.60
*** SonyVID30.cc 22 Feb 2006 15:29:24 -0000 1.59
--- SonyVID30.cc 16 Dec 2006 19:02:23 -0000 1.60
***************
*** 451,458 ****
// Apply joint limits to commanded pan/tilt angles
! if (this->cmdTilt > M_PI*0.5)
! this->cmdTilt = M_PI*0.5;
! else if (this->cmdTilt < -M_PI*0.5)
! this->cmdTilt = -M_PI*0.5;
if (this->cmdPan > M_PI*0.3)
--- 451,458 ----
// Apply joint limits to commanded pan/tilt angles
! if (this->cmdTilt > M_PI*0.3)
! this->cmdTilt = M_PI*0.3;
! else if (this->cmdTilt < -M_PI*0.3)
! this->cmdTilt = -M_PI*0.3;
if (this->cmdPan > M_PI*0.3)
***************
*** 540,544 ****
void SonyVID30::PutCameraData()
{
! int i;
int len;
const unsigned char *src;
--- 540,576 ----
void SonyVID30::PutCameraData()
{
! int i;
! int len;
! const unsigned char *src;
! unsigned char *dst;
! int width, height;
! gz_camera_data_t *data;
!
! gz_camera_lock(this->cameraIface, 1);
!
! data = this->cameraIface->data;
!
! // Get image dimensions
! this->camera->GetImageSize(&width, &height);
!
! data->time = this->world->GetSimTime();
! data->width = width;
! data->height = height;
! data->image_size = width * height;
!
! // Make sure there is room to store the image
! assert(data->image_size <= sizeof(data->image));
!
! // Copy the pixel data to the interface, but flip the y axis
! len = width;
! src = this->camera->GetGreyImageData() + (height - 1) * len;
! dst = data->image;
! for (i = 0; i < height; i++, src -= len, dst += len)
! memcpy(dst, src, len);
!
! gz_camera_unlock(this->cameraIface);
! gz_camera_post(this->cameraIface);
!
! /*int i;
int len;
const unsigned char *src;
***************
*** 571,575 ****
gz_camera_unlock(this->cameraIface);
gz_camera_post(this->cameraIface);
!
return;
}
--- 603,607 ----
gz_camera_unlock(this->cameraIface);
gz_camera_post(this->cameraIface);
! */
return;
}
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