Revision: 7007 http://playerstage.svn.sourceforge.net/playerstage/?rev=7007&view=rev Author: natepak Date: 2008-09-09 13:30:45 +0000 (Tue, 09 Sep 2008)
Log Message: ----------- Applied patch 2101282 Modified Paths: -------------- code/gazebo/trunk/SConstruct code/gazebo/trunk/player/SConscript code/gazebo/trunk/server/SConscript code/gazebo/trunk/server/controllers/SConscript code/gazebo/trunk/server/controllers/actarray/SConscript code/gazebo/trunk/server/controllers/actarray/bandit/SConscript code/gazebo/trunk/server/controllers/audio/SConscript code/gazebo/trunk/server/controllers/camera/SConscript code/gazebo/trunk/server/controllers/camera/generic/SConscript code/gazebo/trunk/server/controllers/camera/stereo/SConscript code/gazebo/trunk/server/controllers/factory/SConscript code/gazebo/trunk/server/controllers/gripper/SConscript code/gazebo/trunk/server/controllers/gripper/pioneer2/SConscript code/gazebo/trunk/server/controllers/laser/SConscript code/gazebo/trunk/server/controllers/laser/sicklms200/SConscript code/gazebo/trunk/server/controllers/position2d/SConscript code/gazebo/trunk/server/controllers/position2d/differential/SConscript code/gazebo/trunk/server/controllers/position2d/steering/SConscript code/gazebo/trunk/server/controllers/ptz/SConscript code/gazebo/trunk/server/controllers/ptz/generic/SConscript code/gazebo/trunk/server/gui/SConscript code/gazebo/trunk/server/physics/Joint.cc code/gazebo/trunk/server/physics/SConscript code/gazebo/trunk/server/physics/ode/SConscript code/gazebo/trunk/server/rendering/SConscript code/gazebo/trunk/server/sensors/SConscript code/gazebo/trunk/server/sensors/camera/SConscript code/gazebo/trunk/server/sensors/ray/SConscript Modified: code/gazebo/trunk/SConstruct =================================================================== --- code/gazebo/trunk/SConstruct 2008-09-09 13:05:16 UTC (rev 7006) +++ code/gazebo/trunk/SConstruct 2008-09-09 13:30:45 UTC (rev 7007) @@ -164,14 +164,14 @@ # conf.env.Append(LIBS="boost_python") -staticObjs = [] +#staticObjs = [] sharedObjs = [] headers = [] # # Export the environment # -Export('env install_prefix version staticObjs sharedObjs headers subdirs') +Export('env install_prefix version sharedObjs headers subdirs') # # Process subdirectories @@ -183,13 +183,13 @@ # # Create the gazebo executable # -gazebo = env.Program('gazebo',staticObjs) +gazebo = env.Program('gazebo',sharedObjs) Depends(gazebo, 'libgazebo/libgazebo.so') # # Create static and shared libraries for the server # -libgazeboServerStatic = env.StaticLibrary('gazeboServer', staticObjs) +#libgazeboServerStatic = env.StaticLibrary('gazeboServer', staticObjs) libgazeboServerShared = env.SharedLibrary('gazeboServer', sharedObjs) # @@ -199,6 +199,6 @@ env.Install(install_prefix+'/bin',gazebo) env.Install(install_prefix+'/share/gazebo','Media') env.Install(install_prefix+'/include/gazebo',headers) -env.Install(install_prefix+'/lib',libgazeboServerStatic ) +#env.Install(install_prefix+'/lib',libgazeboServerStatic ) env.Install(install_prefix+'/lib',libgazeboServerShared ) env.Install(install_prefix+'/share/gazebo','worlds') Modified: code/gazebo/trunk/player/SConscript =================================================================== --- code/gazebo/trunk/player/SConscript 2008-09-09 13:05:16 UTC (rev 7006) +++ code/gazebo/trunk/player/SConscript 2008-09-09 13:30:45 UTC (rev 7007) @@ -1,5 +1,5 @@ import os -Import('env install_prefix staticObjs sharedObjs subdirs') +Import('env install_prefix sharedObjs subdirs') parseConfigs = ['pkg-config --cflags --libs playerc++'] @@ -40,14 +40,14 @@ if ('player' in subdirs): - staticPlayerObjs = playerEnv.StaticObject(sources) +#staticPlayerObjs = playerEnv.StaticObject(sources) sharedPlayerObjs = playerEnv.SharedObject(sources) - staticPlayerObjs.append(staticObjs); +#staticPlayerObjs.append(staticObjs); sharedPlayerObjs.append(sharedObjs); sharedLib = playerEnv.SharedLibrary('gazeboplugin', sharedPlayerObjs) - staticLib = playerEnv.StaticLibrary('gazeboplugin', staticPlayerObjs) +# staticLib = playerEnv.StaticLibrary('gazeboplugin', staticPlayerObjs) env.Install(install_prefix+'/lib', sharedLib) - env.Install(install_prefix+'/lib', staticLib) +#env.Install(install_prefix+'/lib', staticLib) Modified: code/gazebo/trunk/server/SConscript =================================================================== --- code/gazebo/trunk/server/SConscript 2008-09-09 13:05:16 UTC (rev 7006) +++ code/gazebo/trunk/server/SConscript 2008-09-09 13:30:45 UTC (rev 7007) @@ -1,5 +1,5 @@ #Import variables -Import('env install_prefix staticObjs sharedObjs headers') +Import('env install_prefix sharedObjs headers') dirs = Split('physics rendering sensors controllers gui')# bindings') @@ -46,5 +46,5 @@ '#/server/Param.hh' ] ) -staticObjs.append( env.StaticObject(sources) ) +#staticObjs.append( env.StaticObject(sources) ) sharedObjs.append( env.SharedObject(sources) ) Modified: code/gazebo/trunk/server/controllers/SConscript =================================================================== --- code/gazebo/trunk/server/controllers/SConscript 2008-09-09 13:05:16 UTC (rev 7006) +++ code/gazebo/trunk/server/controllers/SConscript 2008-09-09 13:30:45 UTC (rev 7007) @@ -1,5 +1,5 @@ #Import variable -Import('env staticObjs sharedObjs headers') +Import('env sharedObjs headers') dirs = Split('position2d laser camera factory gripper actarray ptz') @@ -17,5 +17,5 @@ '#/server/controllers/Controller.hh' ] ) -staticObjs.append(env.StaticObject(sources)) +#staticObjs.append(env.StaticObject(sources)) sharedObjs.append(env.SharedObject(sources)) Modified: code/gazebo/trunk/server/controllers/actarray/SConscript =================================================================== --- code/gazebo/trunk/server/controllers/actarray/SConscript 2008-09-09 13:05:16 UTC (rev 7006) +++ code/gazebo/trunk/server/controllers/actarray/SConscript 2008-09-09 13:30:45 UTC (rev 7007) @@ -1,5 +1,5 @@ #Import variable -Import('env staticObjs sharedObjs') +Import('env sharedObjs') dirs = Split('bandit') Modified: code/gazebo/trunk/server/controllers/actarray/bandit/SConscript =================================================================== --- code/gazebo/trunk/server/controllers/actarray/bandit/SConscript 2008-09-09 13:05:16 UTC (rev 7006) +++ code/gazebo/trunk/server/controllers/actarray/bandit/SConscript 2008-09-09 13:30:45 UTC (rev 7007) @@ -1,7 +1,7 @@ #Import variable -Import('env staticObjs sharedObjs') +Import('env sharedObjs') sources = Split('Bandit_Actarray.cc') -staticObjs.append(env.StaticObject(sources)) +#staticObjs.append(env.StaticObject(sources)) sharedObjs.append(env.SharedObject(sources)) Modified: code/gazebo/trunk/server/controllers/audio/SConscript =================================================================== --- code/gazebo/trunk/server/controllers/audio/SConscript 2008-09-09 13:05:16 UTC (rev 7006) +++ code/gazebo/trunk/server/controllers/audio/SConscript 2008-09-09 13:30:45 UTC (rev 7007) @@ -1,7 +1,7 @@ #Import variable -Import('env staticObjs sharedObjs') +Import('env sharedObjs') sources = Split('Audio.cc') -staticObjs.append(env.StaticObject(sources)) +#staticObjs.append(env.StaticObject(sources)) sharedObjs.append(env.SharedObject(sources)) Modified: code/gazebo/trunk/server/controllers/camera/SConscript =================================================================== --- code/gazebo/trunk/server/controllers/camera/SConscript 2008-09-09 13:05:16 UTC (rev 7006) +++ code/gazebo/trunk/server/controllers/camera/SConscript 2008-09-09 13:30:45 UTC (rev 7007) @@ -1,5 +1,5 @@ #Import variable -Import('env staticObjs sharedObjs') +Import('env sharedObjs') dirs = [ 'generic', Modified: code/gazebo/trunk/server/controllers/camera/generic/SConscript =================================================================== --- code/gazebo/trunk/server/controllers/camera/generic/SConscript 2008-09-09 13:05:16 UTC (rev 7006) +++ code/gazebo/trunk/server/controllers/camera/generic/SConscript 2008-09-09 13:30:45 UTC (rev 7007) @@ -1,7 +1,7 @@ #Import variable -Import('env staticObjs sharedObjs') +Import('env sharedObjs') sources = Split('Generic_Camera.cc') -staticObjs.append(env.StaticObject(sources)) +#staticObjs.append(env.StaticObject(sources)) sharedObjs.append(env.SharedObject(sources)) Modified: code/gazebo/trunk/server/controllers/camera/stereo/SConscript =================================================================== --- code/gazebo/trunk/server/controllers/camera/stereo/SConscript 2008-09-09 13:05:16 UTC (rev 7006) +++ code/gazebo/trunk/server/controllers/camera/stereo/SConscript 2008-09-09 13:30:45 UTC (rev 7007) @@ -1,7 +1,7 @@ #Import variable -Import('env staticObjs sharedObjs') +Import('env sharedObjs') sources = Split('Stereo_Camera.cc') -staticObjs.append(env.StaticObject(sources)) +#staticObjs.append(env.StaticObject(sources)) sharedObjs.append(env.SharedObject(sources)) Modified: code/gazebo/trunk/server/controllers/factory/SConscript =================================================================== --- code/gazebo/trunk/server/controllers/factory/SConscript 2008-09-09 13:05:16 UTC (rev 7006) +++ code/gazebo/trunk/server/controllers/factory/SConscript 2008-09-09 13:30:45 UTC (rev 7007) @@ -1,7 +1,7 @@ #Import variable -Import('env staticObjs sharedObjs') +Import('env sharedObjs') sources = Split('Factory.cc') -staticObjs.append(env.StaticObject(sources)) +#staticObjs.append(env.StaticObject(sources)) sharedObjs.append(env.SharedObject(sources)) Modified: code/gazebo/trunk/server/controllers/gripper/SConscript =================================================================== --- code/gazebo/trunk/server/controllers/gripper/SConscript 2008-09-09 13:05:16 UTC (rev 7006) +++ code/gazebo/trunk/server/controllers/gripper/SConscript 2008-09-09 13:30:45 UTC (rev 7007) @@ -1,5 +1,5 @@ #Import variable -Import('env staticObjs sharedObjs') +Import('env sharedObjs') dirs = Split('pioneer2') Modified: code/gazebo/trunk/server/controllers/gripper/pioneer2/SConscript =================================================================== --- code/gazebo/trunk/server/controllers/gripper/pioneer2/SConscript 2008-09-09 13:05:16 UTC (rev 7006) +++ code/gazebo/trunk/server/controllers/gripper/pioneer2/SConscript 2008-09-09 13:30:45 UTC (rev 7007) @@ -1,7 +1,7 @@ #Import variable -Import('env staticObjs sharedObjs') +Import('env sharedObjs') sources = Split('Pioneer2_Gripper.cc') -staticObjs.append(env.StaticObject(sources)) +#staticObjs.append(env.StaticObject(sources)) sharedObjs.append(env.SharedObject(sources)) Modified: code/gazebo/trunk/server/controllers/laser/SConscript =================================================================== --- code/gazebo/trunk/server/controllers/laser/SConscript 2008-09-09 13:05:16 UTC (rev 7006) +++ code/gazebo/trunk/server/controllers/laser/SConscript 2008-09-09 13:30:45 UTC (rev 7007) @@ -1,5 +1,5 @@ #Import variable -Import('env staticObjs sharedObjs') +Import('env sharedObjs') dirs = Split('sicklms200') Modified: code/gazebo/trunk/server/controllers/laser/sicklms200/SConscript =================================================================== --- code/gazebo/trunk/server/controllers/laser/sicklms200/SConscript 2008-09-09 13:05:16 UTC (rev 7006) +++ code/gazebo/trunk/server/controllers/laser/sicklms200/SConscript 2008-09-09 13:30:45 UTC (rev 7007) @@ -1,7 +1,7 @@ #Import variable -Import('env staticObjs sharedObjs') +Import('env sharedObjs') sources = Split('SickLMS200_Laser.cc') -staticObjs.append(env.StaticObject(sources)) +#staticObjs.append(env.StaticObject(sources)) sharedObjs.append(env.SharedObject(sources)) Modified: code/gazebo/trunk/server/controllers/position2d/SConscript =================================================================== --- code/gazebo/trunk/server/controllers/position2d/SConscript 2008-09-09 13:05:16 UTC (rev 7006) +++ code/gazebo/trunk/server/controllers/position2d/SConscript 2008-09-09 13:30:45 UTC (rev 7007) @@ -1,5 +1,5 @@ #Import variable -Import('env staticObjs sharedObjs') +Import('env sharedObjs') dirs = Split('differential steering') Modified: code/gazebo/trunk/server/controllers/position2d/differential/SConscript =================================================================== --- code/gazebo/trunk/server/controllers/position2d/differential/SConscript 2008-09-09 13:05:16 UTC (rev 7006) +++ code/gazebo/trunk/server/controllers/position2d/differential/SConscript 2008-09-09 13:30:45 UTC (rev 7007) @@ -1,7 +1,7 @@ #Import variable -Import('env staticObjs sharedObjs') +Import('env sharedObjs') sources = Split('Differential_Position2d.cc') -staticObjs.append(env.StaticObject(sources)) +#staticObjs.append(env.StaticObject(sources)) sharedObjs.append(env.SharedObject(sources)) Modified: code/gazebo/trunk/server/controllers/position2d/steering/SConscript =================================================================== --- code/gazebo/trunk/server/controllers/position2d/steering/SConscript 2008-09-09 13:05:16 UTC (rev 7006) +++ code/gazebo/trunk/server/controllers/position2d/steering/SConscript 2008-09-09 13:30:45 UTC (rev 7007) @@ -1,7 +1,7 @@ #Import variable -Import('env staticObjs sharedObjs') +Import('env sharedObjs') sources = Split('Steering_Position2d.cc Wheel.cc DriveWheel.cc FullWheel.cc') -staticObjs.append(env.StaticObject(sources)) +#staticObjs.append(env.StaticObject(sources)) sharedObjs.append(env.SharedObject(sources)) Modified: code/gazebo/trunk/server/controllers/ptz/SConscript =================================================================== --- code/gazebo/trunk/server/controllers/ptz/SConscript 2008-09-09 13:05:16 UTC (rev 7006) +++ code/gazebo/trunk/server/controllers/ptz/SConscript 2008-09-09 13:30:45 UTC (rev 7007) @@ -1,5 +1,5 @@ #Import variable -Import('env staticObjs sharedObjs') +Import('env sharedObjs') dirs = Split('generic') Modified: code/gazebo/trunk/server/controllers/ptz/generic/SConscript =================================================================== --- code/gazebo/trunk/server/controllers/ptz/generic/SConscript 2008-09-09 13:05:16 UTC (rev 7006) +++ code/gazebo/trunk/server/controllers/ptz/generic/SConscript 2008-09-09 13:30:45 UTC (rev 7007) @@ -1,7 +1,7 @@ #Import variable -Import('env staticObjs sharedObjs') +Import('env sharedObjs') sources = Split('Generic_PTZ.cc') -staticObjs.append(env.StaticObject(sources)) +#staticObjs.append(env.StaticObject(sources)) sharedObjs.append(env.SharedObject(sources)) Modified: code/gazebo/trunk/server/gui/SConscript =================================================================== --- code/gazebo/trunk/server/gui/SConscript 2008-09-09 13:05:16 UTC (rev 7006) +++ code/gazebo/trunk/server/gui/SConscript 2008-09-09 13:30:45 UTC (rev 7007) @@ -1,5 +1,5 @@ #Import variable -Import('env staticObjs sharedObjs headers') +Import('env sharedObjs headers') sources = ['Gui.cc', 'GLWindow.cc', @@ -21,5 +21,5 @@ 'server/gui/GLFrame.hh', ] ) -staticObjs.append(env.StaticObject(sources)) +#staticObjs.append(env.StaticObject(sources)) sharedObjs.append(env.SharedObject(sources)) Modified: code/gazebo/trunk/server/physics/Joint.cc =================================================================== --- code/gazebo/trunk/server/physics/Joint.cc 2008-09-09 13:05:16 UTC (rev 7006) +++ code/gazebo/trunk/server/physics/Joint.cc 2008-09-09 13:30:45 UTC (rev 7007) @@ -87,6 +87,9 @@ this->body2NameP->Load(node); this->anchorBodyNameP->Load(node); this->anchorOffsetP->Load(node); + this->erpP->Load(node); + this->cfmP->Load(node); + this->suspensionCfmP->Load(node); Body *body1 = this->model->GetBody( **(this->body1NameP)); Body *body2 = this->model->GetBody(**(this->body2NameP)); @@ -100,26 +103,13 @@ Vector3 anchorVec = anchorBody->GetPosition() + **(this->anchorOffsetP); - this->Attach(body1,body2); - - // Set the anchor vector - if (anchorBody) - { - this->SetAnchor(anchorVec); - //joint->SetAnchor(anchorBody->GetPosition()); - } - /*else - { - joint->SetAnchor(anchorVec); - this->bodies.erase(node->GetString("anchor",std::string(),0)); - }*/ - - // Set joint parameters this->SetParam(dParamSuspensionERP, **(this->erpP)); this->SetParam(dParamSuspensionCFM, **(this->suspensionCfmP)); this->SetParam(dParamCFM, **(this->cfmP)); + this->Attach(body1,body2); + /// Add a renderable for the joint this->visual = new OgreVisual(this->model->GetVisualNode()); this->visual->AttachMesh("joint_anchor"); @@ -140,6 +130,12 @@ this->line2->AddPoint(Vector3(0,0,0)); this->LoadChild(node); + + // Set the anchor vector + if (anchorBody) + { + this->SetAnchor(anchorVec); + } } //////////////////////////////////////////////////////////////////////////////// Modified: code/gazebo/trunk/server/physics/SConscript =================================================================== --- code/gazebo/trunk/server/physics/SConscript 2008-09-09 13:05:16 UTC (rev 7006) +++ code/gazebo/trunk/server/physics/SConscript 2008-09-09 13:30:45 UTC (rev 7007) @@ -1,5 +1,5 @@ #Import variable -Import('env staticObjs sharedObjs headers') +Import('env sharedObjs headers') dirs = Split('ode') @@ -47,5 +47,5 @@ 'server/physics/MapGeom.hh' ] ) -staticObjs.append( env.StaticObject(sources) ) +#staticObjs.append( env.StaticObject(sources) ) sharedObjs.append( env.SharedObject(sources) ) Modified: code/gazebo/trunk/server/physics/ode/SConscript =================================================================== --- code/gazebo/trunk/server/physics/ode/SConscript 2008-09-09 13:05:16 UTC (rev 7006) +++ code/gazebo/trunk/server/physics/ode/SConscript 2008-09-09 13:30:45 UTC (rev 7007) @@ -1,7 +1,7 @@ #Import variable -Import('env staticObjs sharedObjs') +Import('env sharedObjs') sources = Split('ODEPhysics.cc') -staticObjs.append(env.StaticObject('ODEPhysics.cc')) +#staticObjs.append(env.StaticObject('ODEPhysics.cc')) sharedObjs.append(env.SharedObject('ODEPhysics.cc')) Modified: code/gazebo/trunk/server/rendering/SConscript =================================================================== --- code/gazebo/trunk/server/rendering/SConscript 2008-09-09 13:05:16 UTC (rev 7006) +++ code/gazebo/trunk/server/rendering/SConscript 2008-09-09 13:30:45 UTC (rev 7007) @@ -1,5 +1,5 @@ #Import variable -Import('env staticObjs sharedObjs headers') +Import('env sharedObjs headers') sources = ['OgreCreator.cc', 'OgreAdaptor.cc', @@ -30,5 +30,5 @@ '#/server/rendering/UserCamera.hh' ] ) -staticObjs.append( env.StaticObject(sources) ) +#staticObjs.append( env.StaticObject(sources) ) sharedObjs.append( env.SharedObject(sources) ) Modified: code/gazebo/trunk/server/sensors/SConscript =================================================================== --- code/gazebo/trunk/server/sensors/SConscript 2008-09-09 13:05:16 UTC (rev 7006) +++ code/gazebo/trunk/server/sensors/SConscript 2008-09-09 13:30:45 UTC (rev 7007) @@ -1,5 +1,5 @@ #Import variable -Import('env staticObjs sharedObjs headers') +Import('env sharedObjs headers') dirs = Split('camera ray') @@ -14,5 +14,5 @@ 'server/sensors/Sensor.hh' ] ) -staticObjs.append( env.StaticObject(sources) ) +#staticObjs.append( env.StaticObject(sources) ) sharedObjs.append( env.SharedObject(sources) ) Modified: code/gazebo/trunk/server/sensors/camera/SConscript =================================================================== --- code/gazebo/trunk/server/sensors/camera/SConscript 2008-09-09 13:05:16 UTC (rev 7006) +++ code/gazebo/trunk/server/sensors/camera/SConscript 2008-09-09 13:30:45 UTC (rev 7007) @@ -1,10 +1,10 @@ #Import variable -Import('env staticObjs sharedObjs') +Import('env sharedObjs') sources = [ 'MonoCameraSensor.cc', 'StereoCameraSensor.cc' ] -staticObjs.append(env.StaticObject(sources)) +#staticObjs.append(env.StaticObject(sources)) sharedObjs.append(env.SharedObject(sources)) Modified: code/gazebo/trunk/server/sensors/ray/SConscript =================================================================== --- code/gazebo/trunk/server/sensors/ray/SConscript 2008-09-09 13:05:16 UTC (rev 7006) +++ code/gazebo/trunk/server/sensors/ray/SConscript 2008-09-09 13:30:45 UTC (rev 7007) @@ -1,7 +1,7 @@ #Import variable -Import('env staticObjs sharedObjs') +Import('env sharedObjs') sources = Split('RaySensor.cc') -staticObjs.append(env.StaticObject(sources)) +#staticObjs.append(env.StaticObject(sources)) sharedObjs.append(env.SharedObject(sources)) This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site. ------------------------------------------------------------------------- This SF.Net email is sponsored by the Moblin Your Move Developer's challenge Build the coolest Linux based applications with Moblin SDK & win great prizes Grand prize is a trip for two to an Open Source event anywhere in the world http://moblin-contest.org/redirect.php?banner_id=100&url=/ 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