Revision: 6352
http://playerstage.svn.sourceforge.net/playerstage/?rev=6352&view=rev
Author: gbiggs
Date: 2008-04-17 23:21:14 -0700 (Thu, 17 Apr 2008)
Log Message:
-----------
Merging changes 4421:4422 from trunk
Modified Paths:
--------------
code/player/branches/cmake/examples/libplayerc++/randomwalk.cc
code/player/branches/cmake/server/drivers/joystick/linuxjoy.cc
code/player/branches/cmake/server/drivers/laser/urg_laser.cc
code/player/branches/cmake/server/drivers/shell/kartowriter.cc
Modified: code/player/branches/cmake/examples/libplayerc++/randomwalk.cc
===================================================================
--- code/player/branches/cmake/examples/libplayerc++/randomwalk.cc
2008-04-18 06:20:03 UTC (rev 6351)
+++ code/player/branches/cmake/examples/libplayerc++/randomwalk.cc
2008-04-18 06:21:14 UTC (rev 6352)
@@ -9,7 +9,7 @@
#include "args.h"
double minfrontdistance = 0.750;
-double speed = 0.200;
+double speed = 0.350;
double avoidspeed = 0; // -150;
double turnrate = DTOR(40);
@@ -66,7 +66,7 @@
obs = false;
for (uint32_t i = 0; i < lp->GetCount (); i++)
{
- if((*lp)[i] < minfrontdistance)
+ if(((*lp)[i]) && (*lp)[i] < minfrontdistance)
obs = true;
}
}
@@ -78,7 +78,7 @@
(sp->GetScan (5) < minfrontdistance) );
}
- if(obs || avoidcount || pp.GetStall ())
+ if(obs || avoidcount)// || pp.GetStall ())
{
newspeed = avoidspeed;
@@ -86,7 +86,8 @@
/* (we run at about 10Hz, so 20 loop iterations is about 2 sec) */
if(!avoidcount)
{
- avoidcount = 15;
+ avoidcount = (1+(int)(10.0*rand()/(RAND_MAX+1.0))) + 20;
+ //avoidcount = 30;
randcount = 0;
if(gUseLaser)
@@ -119,7 +120,7 @@
randint = rand() % 41 - 20;
newturnrate = dtor(randint);
- randcount = 20;
+ randcount = 30;
}
randcount--;
}
Modified: code/player/branches/cmake/server/drivers/joystick/linuxjoy.cc
===================================================================
--- code/player/branches/cmake/server/drivers/joystick/linuxjoy.cc
2008-04-18 06:20:03 UTC (rev 6351)
+++ code/player/branches/cmake/server/drivers/joystick/linuxjoy.cc
2008-04-18 06:21:14 UTC (rev 6352)
@@ -419,7 +419,6 @@
{
this->PutPositionCommand();
}
-#if 0
else
{
player_position2d_cmd_vel_t cmd;
@@ -430,7 +429,6 @@
(void*)&cmd,
sizeof(player_position2d_cmd_vel_t),
NULL);
}
-#endif
}
}
return;
Modified: code/player/branches/cmake/server/drivers/laser/urg_laser.cc
===================================================================
--- code/player/branches/cmake/server/drivers/laser/urg_laser.cc
2008-04-18 06:20:03 UTC (rev 6351)
+++ code/player/branches/cmake/server/drivers/laser/urg_laser.cc
2008-04-18 06:21:14 UTC (rev 6352)
@@ -798,8 +798,10 @@
{
readings->Readings[i] = ((Buffer[0]-0x30) << 12) | ((Buffer[1]-0x30)
<< 6) | (Buffer[2]-0x30);
// > 50000 seems to be an error code for when an object is too close
- if(readings->Readings[i] >= 50000)
- readings->Readings[i] = 0;
+ //if(readings->Readings[i] >= 50000)
+ //readings->Readings[i] = 0;
+ if(readings->Readings[i] >= 30000)
+ readings->Readings[i] = 30000;
if ((readings->Readings[i] > 30000) && (i >= min_i) && (i <= max_i))
printf ("> W: [%d] read error: %i is bigger than 30.0 meters\n", i,
readings->Readings[i]);
}
Modified: code/player/branches/cmake/server/drivers/shell/kartowriter.cc
===================================================================
--- code/player/branches/cmake/server/drivers/shell/kartowriter.cc
2008-04-18 06:20:03 UTC (rev 6351)
+++ code/player/branches/cmake/server/drivers/shell/kartowriter.cc
2008-04-18 06:21:14 UTC (rev 6352)
@@ -395,7 +395,7 @@
//
KartoLogger::~KartoLogger()
{
- Shutdown();
+ //Shutdown();
}
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