Revision: 7021
http://playerstage.svn.sourceforge.net/playerstage/?rev=7021&view=rev
Author: natepak
Date: 2008-09-12 14:37:21 +0000 (Fri, 12 Sep 2008)
Log Message:
-----------
Fixed a time issue with the bump controller
Modified Paths:
--------------
code/gazebo/trunk/player/BumperInterface.cc
code/gazebo/trunk/server/controllers/bumper/generic/Generic_Bumper.cc
Modified: code/gazebo/trunk/player/BumperInterface.cc
===================================================================
--- code/gazebo/trunk/player/BumperInterface.cc 2008-09-12 01:26:55 UTC (rev
7020)
+++ code/gazebo/trunk/player/BumperInterface.cc 2008-09-12 14:37:21 UTC (rev
7021)
@@ -102,6 +102,7 @@
// Copy bumper data
this->data.bumpers_count = this->iface->data->bumper_count;
+
memcpy( this->data.bumpers, this->iface->data->bumpers,
sizeof(uint8_t) * this->data.bumpers_count );
Modified: code/gazebo/trunk/server/controllers/bumper/generic/Generic_Bumper.cc
===================================================================
--- code/gazebo/trunk/server/controllers/bumper/generic/Generic_Bumper.cc
2008-09-12 01:26:55 UTC (rev 7020)
+++ code/gazebo/trunk/server/controllers/bumper/generic/Generic_Bumper.cc
2008-09-12 14:37:21 UTC (rev 7021)
@@ -81,9 +81,10 @@
this->myIface->data->bumper_count = this->myParent->GetContactCount();
+ this->myIface->data->head.time = Simulator::Instance()->GetRealTime();
+
for (unsigned int i=0; i < this->myParent->GetContactCount(); i++)
{
- this->myIface->data->head.time = this->myParent->GetContactTime(i);
this->myIface->data->bumpers[i] = this->myParent->GetContactState(i);
}
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