Revision: 6375
http://playerstage.svn.sourceforge.net/playerstage/?rev=6375&view=rev
Author: gbiggs
Date: 2008-04-22 22:31:33 -0700 (Tue, 22 Apr 2008)
Log Message:
-----------
Fixed a missed change
Modified Paths:
--------------
code/player/trunk/server/drivers/laser/bumper2laser.cc
Modified: code/player/trunk/server/drivers/laser/bumper2laser.cc
===================================================================
--- code/player/trunk/server/drivers/laser/bumper2laser.cc 2008-04-23
05:17:52 UTC (rev 6374)
+++ code/player/trunk/server/drivers/laser/bumper2laser.cc 2008-04-23
05:31:33 UTC (rev 6375)
@@ -1,6 +1,6 @@
/*
* Player - One Hell of a Robot Server
- * Copyright (C) 2004 Brian Gerkey [EMAIL PROTECTED]
+ * Copyright (C) 2004 Brian Gerkey [EMAIL PROTECTED]
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
@@ -54,7 +54,7 @@
- Default: 0.01
- Value (in meters) returned by laser whenever bumper detects collision
[EMAIL PROTECTED] Example
[EMAIL PROTECTED] Example
@verbatim
driver
@@ -96,7 +96,7 @@
class Bumper2Laser : public Driver
{
- public:
+ public:
// Constructor; need that
Bumper2Laser(ConfigFile * cf, int section);
@@ -107,7 +107,7 @@
virtual int Shutdown();
// This method will be invoked on each incoming message
- virtual int ProcessMessage(QueuePointer & resp_queue,
+ virtual int ProcessMessage(QueuePointer & resp_queue,
player_msghdr * hdr,
void * data);
@@ -140,7 +140,7 @@
// Start and end scan angles (for restricted scan). These are in
// units of 0.01 degrees.
int min_angle, max_angle;
-
+
// Start and end scan segments (for restricted scan). These are
// the values used by the laser.
int scan_min_segment, scan_max_segment;
@@ -150,9 +150,9 @@
// Turn intensity data on/off
bool intensity;
-
+
float occupied_value;
-
+
int scan_id;
};
@@ -196,11 +196,11 @@
this->size[1] = 0.15;
this->scan_width = 180;
this->scan_res = cf->ReadInt(section, "resolution", 50);
- if((this->scan_res != 25) &&
- (this->scan_res != 50) &&
+ if((this->scan_res != 25) &&
+ (this->scan_res != 50) &&
(this->scan_res != 100))
{
- PLAYER_ERROR1("Invalid angular resolution %d. Defaulting to 50 (0.5
degree)",
+ PLAYER_ERROR1("Invalid angular resolution %d. Defaulting to 50 (0.5
degree)",
this->scan_res);
this->scan_res = 50;
}
@@ -230,7 +230,7 @@
{
// We have not yet received any data
this->bumper_data_valid = false;
-
+
// Retrieve the handle to the bumper device.
this->bumper_dev = deviceTable->GetDevice(this->bumper_addr);
if (!(this->bumper_dev))
@@ -258,7 +258,7 @@
{
// Stop and join the driver thread
StopThread();
-
+
// Unsubscribe from the bumper
this->bumper_dev->Unsubscribe(this->InQueue);
@@ -267,7 +267,7 @@
////////////////////////////////////////////////////////////////////////////////
// Main function for device thread
-void Bumper2Laser::Main()
+void Bumper2Laser::Main()
{
struct timespec tspec;
double time;
@@ -299,8 +299,8 @@
// Prepare packet
this->laser_data.min_angle = DTOR((this->scan_min_segment *
this->scan_res) / 1e2 - this->scan_width / 2.0);
- this->laser_data.max_angle = DTOR((this->scan_max_segment *
- this->scan_res) / 1e2 -
+ this->laser_data.max_angle = DTOR((this->scan_max_segment *
+ this->scan_res) / 1e2 -
this->scan_width / 2.0);
if(this->range_res == 1) this->laser_data.max_range = 8.0;
else if(this->range_res == 10) this->laser_data.max_range = 80.0;
@@ -311,7 +311,7 @@
this->laser_data.max_range = 8.0;
}
this->laser_data.resolution = DTOR(this->scan_res / 1e2);
- old_count = this->laser_data.ranges_count;
+ old_count = this->laser_data.ranges_count;
this->laser_data.ranges_count = this->scan_max_segment -
this->scan_min_segment + 1;
this->laser_data.intensity_count = this->laser_data.ranges_count;
if (old_count < (this->laser_data.ranges_count))
@@ -353,11 +353,11 @@
// Process messages here. Send a response if necessary, using Publish().
// If you handle the message successfully, return 0. Otherwise,
// return -1, and a NACK will be sent for you, if a response is required.
- if (Message::MatchMessage(hdr, PLAYER_MSGTYPE_REQ,
- PLAYER_LASER_REQ_SET_CONFIG,
+ if (Message::MatchMessage(hdr, PLAYER_MSGTYPE_REQ,
+ PLAYER_LASER_REQ_SET_CONFIG,
this->laser_addr))
{
- player_laser_config_t * config =
+ player_laser_config_t * config =
reinterpret_cast<player_laser_config_t *> (data);
this->intensity = config->intensity;
this->scan_res = (int)rint(RTOD(config->resolution)*100);
@@ -459,7 +459,7 @@
// that it can be invoked without object context. In this function, we add
// the driver into the given driver table, indicating which interface the
// driver can support and how to create a driver instance.
-void Bumper2Laser_Register(DriverTable * table)
+void bumper2laser_Register(DriverTable * table)
{
table->AddDriver("bumper2laser", Bumper2Laser_Init);
}
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