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))
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