Revision: 6948
http://playerstage.svn.sourceforge.net/playerstage/?rev=6948&view=rev
Author: natepak
Date: 2008-08-10 21:12:29 +0000 (Sun, 10 Aug 2008)
Log Message:
-----------
Fixed simulation interface updating
Modified Paths:
--------------
code/gazebo/trunk/libgazebo/gazebo.h
code/gazebo/trunk/player/SimulationInterface.cc
code/gazebo/trunk/server/World.cc
code/gazebo/trunk/server/controllers/camera/stereo/Stereo_Camera.cc
code/gazebo/trunk/worlds/simpleshapes.world
Modified: code/gazebo/trunk/libgazebo/gazebo.h
===================================================================
--- code/gazebo/trunk/libgazebo/gazebo.h 2008-08-10 18:26:25 UTC (rev
6947)
+++ code/gazebo/trunk/libgazebo/gazebo.h 2008-08-10 21:12:29 UTC (rev
6948)
@@ -1368,18 +1368,6 @@
/// Vertical field of view of the camera in radians
public: double vfov;
- // Left image size
- public: unsigned int left_rgb_size;
-
- /// left image (R8G8B8)
- public: unsigned char left_rgb[GAZEBO_STEREO_CAMERA_MAX_RGB_SIZE];
-
- /// Right image size
- public: unsigned int right_rgb_size;
-
- /// Right image (R8G8B8)
- public: unsigned char right_rgb[GAZEBO_STEREO_CAMERA_MAX_RGB_SIZE];
-
/// Left depth map size
public: unsigned int left_depth_size;
Modified: code/gazebo/trunk/player/SimulationInterface.cc
===================================================================
--- code/gazebo/trunk/player/SimulationInterface.cc 2008-08-10 18:26:25 UTC
(rev 6947)
+++ code/gazebo/trunk/player/SimulationInterface.cc 2008-08-10 21:12:29 UTC
(rev 6948)
@@ -51,6 +51,8 @@
GazeboClient::Init(serverId, "");
this->iface = new SimulationIface();
+
+ this->responseQueue = NULL;
}
///////////////////////////////////////////////////////////////////////////////
@@ -58,6 +60,12 @@
SimulationInterface::~SimulationInterface()
{
delete this->iface;
+
+ if (this->responseQueue)
+ {
+ delete this->responseQueue;
+ this->responseQueue = NULL;
+ }
}
///////////////////////////////////////////////////////////////////////////////
@@ -205,8 +213,7 @@
this->iface->Unlock();
this->driver->Publish(this->device_addr, respQueue,
- PLAYER_MSGTYPE_RESP_ACK,
PLAYER_SIMULATION_REQ_GET_PROPERTY,
- req, sizeof(*req), NULL);
+ PLAYER_MSGTYPE_RESP_ACK,
PLAYER_SIMULATION_REQ_GET_PROPERTY, req, sizeof(*req), NULL);
if (req->value)
{
Modified: code/gazebo/trunk/server/World.cc
===================================================================
--- code/gazebo/trunk/server/World.cc 2008-08-10 18:26:25 UTC (rev 6947)
+++ code/gazebo/trunk/server/World.cc 2008-08-10 21:12:29 UTC (rev 6948)
@@ -502,7 +502,6 @@
}
response = this->simIface->data->responses;
- this->simIface->data->responseCount = 0;
this->simIface->data->simTime = Simulator::Instance()->GetSimTime();
this->simIface->data->pauseTime = Simulator::Instance()->GetPauseTime();
@@ -583,7 +582,7 @@
response->modelPose.yaw = rot.z;
response++;
- this->simIface->data->responseCount++;
+ this->simIface->data->responseCount += 1;
}
else
{
Modified: code/gazebo/trunk/server/controllers/camera/stereo/Stereo_Camera.cc
===================================================================
--- code/gazebo/trunk/server/controllers/camera/stereo/Stereo_Camera.cc
2008-08-10 18:26:25 UTC (rev 6947)
+++ code/gazebo/trunk/server/controllers/camera/stereo/Stereo_Camera.cc
2008-08-10 21:12:29 UTC (rev 6948)
@@ -151,30 +151,12 @@
stereo_data->hfov = this->myParent->GetHFOV();
stereo_data->vfov = this->myParent->GetVFOV();
- //stereo_data->right_rgb_size = stereo_data->width * stereo_data->height * 3;
- //stereo_data->left_rgb_size = stereo_data->width * stereo_data->height * 3;
-
stereo_data->right_depth_size = stereo_data->width * stereo_data->height *
sizeof(float);
stereo_data->left_depth_size = stereo_data->width * stereo_data->height *
sizeof(float);
- // Make sure there is room to store the image
- //assert (stereo_data->right_rgb_size <= sizeof(stereo_data->right_rgb));
- //assert (stereo_data->left_rgb_size <= sizeof(stereo_data->left_rgb));
-
assert (stereo_data->right_depth_size <= sizeof(stereo_data->right_depth));
assert (stereo_data->left_depth_size <= sizeof(stereo_data->left_depth));
- // Copy the left pixel data to the interface
- /*rgb_src = this->myParent->GetImageData(0);
- rgb_dst = stereo_data->left_rgb;
- memcpy(rgb_dst, rgb_src, stereo_data->left_rgb_size);
-
- // Copy the right pixel data to the interface
- rgb_src = this->myParent->GetImageData(1);
- rgb_dst = stereo_data->right_rgb;
- memcpy(rgb_dst, rgb_src, stereo_data->right_rgb_size);
- */
-
// Copy the left depth data to the interface
disp_src = this->myParent->GetDepthData(0);
disp_dst = stereo_data->left_depth;
Modified: code/gazebo/trunk/worlds/simpleshapes.world
===================================================================
--- code/gazebo/trunk/worlds/simpleshapes.world 2008-08-10 18:26:25 UTC (rev
6947)
+++ code/gazebo/trunk/worlds/simpleshapes.world 2008-08-10 21:12:29 UTC (rev
6948)
@@ -36,9 +36,9 @@
</rendering:ogre>
<model:physical name="sphere1_model">
- <xyz>1 0 0.25</xyz>
+ <xyz>1 0 0.5</xyz>
<rpy>0.0 0.0 0.0</rpy>
- <static>true</static>
+ <static>false</static>
<body:sphere name="sphere1_body">
<geom:sphere name="sphere1_geom">
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