Revision: 6606
http://playerstage.svn.sourceforge.net/playerstage/?rev=6606&view=rev
Author: thjc
Date: 2008-06-16 18:09:01 -0700 (Mon, 16 Jun 2008)
Log Message:
-----------
merged fix for laser dummy driver from 2-1 [6565]
Modified Paths:
--------------
code/player/trunk/server/drivers/shell/dummy.cc
Modified: code/player/trunk/server/drivers/shell/dummy.cc
===================================================================
--- code/player/trunk/server/drivers/shell/dummy.cc 2008-06-17 01:07:41 UTC
(rev 6605)
+++ code/player/trunk/server/drivers/shell/dummy.cc 2008-06-17 01:09:01 UTC
(rev 6606)
@@ -246,13 +246,18 @@
player_laser_data_t data;
data.min_angle = -1.5707964;
data.max_angle = 1.5707964;
- data.resolution = 49;
- data.max_range = 4.0;
+ data.resolution = .5 * M_PI/180;
+ data.max_range = 8.0;
data.ranges_count = 361;
data.intensity_count = 361;
+ data.ranges = (float *)
+ malloc( data.ranges_count * sizeof(float) );
+
+ data.intensity = (uint8_t *)
+ malloc( data.ranges_count * sizeof(uint8_t) );
for (i = 0; i < data.ranges_count; i++)
{
- data.ranges[i] = 1;
+ data.ranges[i] = data.max_range;
data.intensity[i] = 1;
}
data.id = 1;
@@ -260,6 +265,8 @@
Publish (device_addr, PLAYER_MSGTYPE_DATA,
PLAYER_LASER_DATA_SCAN, (void*)&data, sizeof(data),
NULL);
+ free(data.ranges);
+ free(data.intensity);
break;
}
case PLAYER_POSITION2D_CODE:
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