Revision: 6399
http://playerstage.svn.sourceforge.net/playerstage/?rev=6399&view=rev
Author: gerkey
Date: 2008-05-07 09:39:01 -0700 (Wed, 07 May 2008)
Log Message:
-----------
added build of standalone planning library; once stable, it will likely migrate
to Gearbox
Modified Paths:
--------------
code/player/trunk/server/drivers/planner/wavefront/CMakeLists.txt
code/player/trunk/server/drivers/planner/wavefront/plan.c
code/player/trunk/server/drivers/planner/wavefront/plan_waypoint.c
Modified: code/player/trunk/server/drivers/planner/wavefront/CMakeLists.txt
===================================================================
--- code/player/trunk/server/drivers/planner/wavefront/CMakeLists.txt
2008-05-04 02:12:02 UTC (rev 6398)
+++ code/player/trunk/server/drivers/planner/wavefront/CMakeLists.txt
2008-05-07 16:39:01 UTC (rev 6399)
@@ -3,4 +3,8 @@
wavefront_includeDir wavefront_libDir wavefront_linkFlags wavefront_cFlags)
PLAYERDRIVER_ADD_DRIVER (wavefront build_wavefront
"${wavefront_includeDir}" "${wavefront_libDir}" "${wavefront_linkFlags}"
"${wavefront_cFlags}"
- plan.c plan_plan.c plan_waypoint.c wavefront.cc heap.c plan_control.c)
\ No newline at end of file
+ plan.c plan_plan.c plan_waypoint.c wavefront.cc heap.c plan_control.c)
+
+# Also build and install standalone non-Player lib
+PLAYER_ADD_LIBRARY (wavefront_standalone plan.c plan_plan.c plan_waypoint.c
heap.c plan_control.c)
+PLAYER_INSTALL_HEADERS (standalone_drivers plan.h heap.h)
Modified: code/player/trunk/server/drivers/planner/wavefront/plan.c
===================================================================
--- code/player/trunk/server/drivers/planner/wavefront/plan.c 2008-05-04
02:12:02 UTC (rev 6398)
+++ code/player/trunk/server/drivers/planner/wavefront/plan.c 2008-05-07
16:39:01 UTC (rev 6399)
@@ -350,7 +350,7 @@
float* p;
plan_cell_t *cell, *ncell;
- PLAYER_MSG0(2,"Generating C-space....");
+ puts("Generating C-space....");
for (j = plan->min_y; j <= plan->max_y; j++)
{
@@ -381,6 +381,7 @@
}
}
+#if 0
#include <gdk-pixbuf/gdk-pixbuf.h>
void
@@ -541,6 +542,7 @@
gdk_pixbuf_unref(pixbuf);
free(pixels);
}
+#endif
// Construct the configuration space from the occupancy grid.
// This treats both occupied and unknown cells as bad.
@@ -585,7 +587,6 @@
draw_cspace(plan,"plan_cspace.png");
#endif
}
-#endif
#if HAVE_OPENSSL_MD5_H && HAVE_LIBCRYPTO
// Write the cspace occupancy distance values to a file, one per line.
@@ -717,6 +718,8 @@
}
#endif // HAVE_OPENSSL_MD5_H && HAVE_LIBCRYPTO
+#endif // if 0
+
double
static get_time(void)
{
Modified: code/player/trunk/server/drivers/planner/wavefront/plan_waypoint.c
===================================================================
--- code/player/trunk/server/drivers/planner/wavefront/plan_waypoint.c
2008-05-04 02:12:02 UTC (rev 6398)
+++ code/player/trunk/server/drivers/planner/wavefront/plan_waypoint.c
2008-05-07 16:39:01 UTC (rev 6399)
@@ -129,7 +129,7 @@
lastj = (int)floor(j);
if(!PLAN_VALID(plan,lasti,lastj))
{
- PLAYER_WARN("stepped off the map!");
+ //PLAYER_WARN("stepped off the map!");
return(0);
}
if(plan->cells[PLAN_INDEX(plan,lasti,lastj)].occ_dist <
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