Revision: 6449
http://playerstage.svn.sourceforge.net/playerstage/?rev=6449&view=rev
Author: robotos
Date: 2008-05-19 17:33:20 -0700 (Mon, 19 May 2008)
Log Message:
-----------
Bye bye global runtime variables
Modified Paths:
--------------
code/gazebo/trunk/server/Global.hh
code/gazebo/trunk/server/SConscript
code/gazebo/trunk/server/Simulator.cc
code/gazebo/trunk/server/gui/Toolbar.cc
code/gazebo/trunk/server/physics/ode/ODEPhysics.hh
code/gazebo/trunk/server/sensors/ray/RaySensor.cc
Removed Paths:
-------------
code/gazebo/trunk/server/Global.cc
Deleted: code/gazebo/trunk/server/Global.cc
===================================================================
--- code/gazebo/trunk/server/Global.cc 2008-05-19 01:18:04 UTC (rev 6448)
+++ code/gazebo/trunk/server/Global.cc 2008-05-20 00:33:20 UTC (rev 6449)
@@ -1,42 +0,0 @@
-/*
- * Gazebo - Outdoor Multi-Robot Simulator
- * Copyright (C) 2003
- * Nate Koenig & Andrew Howard
- *
- * 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
- * the Free Software Foundation; either version 2 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program; if not, write to the Free Software
- * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
- *
- */
-/* Desc: Generic Typedefs, macros, functions, etc
- * Author: Nate Koenig
- * Date: 21 July 2007
- * CVS: $Id$
- */
-
-#include "Global.hh"
-
-using namespace gazebo;
-
-Pose3d Global::poseOffset;
-
-////////////////////////////////////////////////////////////////////////////////
-Global::Global()
-{
-}
-
-////////////////////////////////////////////////////////////////////////////////
-Global::~Global()
-{
-}
-
Modified: code/gazebo/trunk/server/Global.hh
===================================================================
--- code/gazebo/trunk/server/Global.hh 2008-05-19 01:18:04 UTC (rev 6448)
+++ code/gazebo/trunk/server/Global.hh 2008-05-20 00:33:20 UTC (rev 6449)
@@ -33,7 +33,6 @@
#include <math.h>
-#include "Pose3d.hh"
#include "GazeboError.hh"
#include "GazeboMessage.hh"
@@ -89,40 +88,5 @@
#define GZ_DELETE(p) { if(p) { delete (p); (p)=NULL; } }
-namespace gazebo
-{
- /// \addtogroup gazebo_server
- /// \brief Global attributes.
- /// \{
-
- /// \brief Class to hold global attributes
- /**
- The \c param:Global tag is used to specify certain global parameters
- for the server. Set these parameters as needed in the world file E.g.:
-
- \verbatim
- <param:Global>
- <pause>true</pause>
- </param:Global>
- \endverbatim
-
- The parameters are as follows:
- - pause (bool)
- - Set to true to start the simulator in paused mode.
- - Default: false
- */
- class Global
- {
-
- /// Global pose offset
- public: static Pose3d poseOffset;
-
- private: Global();
- private: ~Global();
- };
-
- /// \}
-}
-
#endif
Modified: code/gazebo/trunk/server/SConscript
===================================================================
--- code/gazebo/trunk/server/SConscript 2008-05-19 01:18:04 UTC (rev 6448)
+++ code/gazebo/trunk/server/SConscript 2008-05-20 00:33:20 UTC (rev 6449)
@@ -7,7 +7,6 @@
SConscript('%s/SConscript' % subdir)
sources = ['main.cc',
- 'Global.cc',
'Vector3.cc',
'Quatern.cc',
'Pose3d.cc',
Modified: code/gazebo/trunk/server/Simulator.cc
===================================================================
--- code/gazebo/trunk/server/Simulator.cc 2008-05-19 01:18:04 UTC (rev
6448)
+++ code/gazebo/trunk/server/Simulator.cc 2008-05-20 00:33:20 UTC (rev
6449)
@@ -276,7 +276,7 @@
else if (maxRenderUpdateTime > 0)
gzmsg(2) << "updating the visualization " << 1/maxRenderUpdateTime << "
times per second";
else
- gzmsg(2) << "updating the visualization " << -1/maxRenderUpdateTime << "
times per each physics updates";
+ gzmsg(2) << "updating the visualization after " << -1/maxRenderUpdateTime
<< " physics updates" << std::endl;
std::cout.flush();
while (!this->userQuit)
Modified: code/gazebo/trunk/server/gui/Toolbar.cc
===================================================================
--- code/gazebo/trunk/server/gui/Toolbar.cc 2008-05-19 01:18:04 UTC (rev
6448)
+++ code/gazebo/trunk/server/gui/Toolbar.cc 2008-05-20 00:33:20 UTC (rev
6449)
@@ -27,10 +27,10 @@
#include <stdio.h>
#include <FL/Fl_Value_Output.H>
-#include "Global.hh"
#include "CameraManager.hh"
#include "CameraSensor.hh"
#include "Toolbar.hh"
+#include "Global.hh"
using namespace gazebo;
@@ -122,7 +122,6 @@
}
Pose3d pose = camera->GetWorldPose();
- pose -= Global::poseOffset;
this->outputX->value(pose.pos.x);
this->outputY->value(pose.pos.y);
Modified: code/gazebo/trunk/server/physics/ode/ODEPhysics.hh
===================================================================
--- code/gazebo/trunk/server/physics/ode/ODEPhysics.hh 2008-05-19 01:18:04 UTC
(rev 6448)
+++ code/gazebo/trunk/server/physics/ode/ODEPhysics.hh 2008-05-20 00:33:20 UTC
(rev 6449)
@@ -41,7 +41,6 @@
class CylinderGeom;
class Entity;
class XMLConfigNode;
-
/// \addtogroup gazebo_physics_engine
/// \{
@@ -121,7 +120,7 @@
private: dJointGroupID contactGroup;
/// List of all the entities
- protected: std::map<int, Entity* > entities;
+ private: std::map<int, Entity* > entities;
private: double globalCFM;
private: double globalERP;
Modified: code/gazebo/trunk/server/sensors/ray/RaySensor.cc
===================================================================
--- code/gazebo/trunk/server/sensors/ray/RaySensor.cc 2008-05-19 01:18:04 UTC
(rev 6448)
+++ code/gazebo/trunk/server/sensors/ray/RaySensor.cc 2008-05-20 00:33:20 UTC
(rev 6449)
@@ -67,9 +67,7 @@
{
if (this->body == NULL)
{
- std::ostringstream stream;
- stream << "Body is NULL";
- gzthrow(stream.str());
+ gzthrow("Null body in the ray sensor");
}
this->rayCount = node->GetInt("rayCount",0,1);
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