Revision: 7033
http://playerstage.svn.sourceforge.net/playerstage/?rev=7033&view=rev
Author: natepak
Date: 2008-09-21 22:55:45 +0000 (Sun, 21 Sep 2008)
Log Message:
-----------
added patch 2118734
Modified Paths:
--------------
code/gazebo/trunk/SConstruct
code/gazebo/trunk/libgazebo/Iface.cc
code/gazebo/trunk/libgazebo/gazebo.h
code/gazebo/trunk/server/controllers/SConscript
code/gazebo/trunk/server/sensors/SConscript
Modified: code/gazebo/trunk/SConstruct
===================================================================
--- code/gazebo/trunk/SConstruct 2008-09-21 22:47:47 UTC (rev 7032)
+++ code/gazebo/trunk/SConstruct 2008-09-21 22:55:45 UTC (rev 7033)
@@ -46,6 +46,7 @@
'#server/sensors/camera',
'#server/sensors/ray',
'#server/sensors/contact',
+ '#server/sensors/imu',
'#server/physics',
'#server/physics/ode',
'#server/controllers',
Modified: code/gazebo/trunk/libgazebo/Iface.cc
===================================================================
--- code/gazebo/trunk/libgazebo/Iface.cc 2008-09-21 22:47:47 UTC (rev
7032)
+++ code/gazebo/trunk/libgazebo/Iface.cc 2008-09-21 22:55:45 UTC (rev
7033)
@@ -59,6 +59,7 @@
GZ_REGISTER_IFACE("stereocamera", StereoCameraIface);
GZ_REGISTER_IFACE("opaque", OpaqueIface);
GZ_REGISTER_IFACE("bumper", BumperIface);
+GZ_REGISTER_IFACE("imu", ImuIface);
//////////////////////////////////////////////////////////////////////////////
// Create an interface
Modified: code/gazebo/trunk/libgazebo/gazebo.h
===================================================================
--- code/gazebo/trunk/libgazebo/gazebo.h 2008-09-21 22:47:47 UTC (rev
7032)
+++ code/gazebo/trunk/libgazebo/gazebo.h 2008-09-21 22:55:45 UTC (rev
7033)
@@ -765,8 +765,28 @@
/** @} */
/// @}
+class ImuData
+{
+ public: GazeboData head;
+ public: Pose velocity;
+};
-
+class ImuIface : public Iface
+{
+ public: ImuIface():Iface("imu", sizeof(ImuIface)+sizeof(ImuData)) {}
+ public: virtual ~ImuIface() {this->data = NULL;}
+ public: virtual void Create(Server *server, std::string id)
+ {
+ Iface::Create(server,id);
+ this->data = (ImuData*)this->mMap;
+ }
+ public: virtual void Open(Client *client, std::string id)
+ {
+ Iface::Open(client,id);
+ this->data = (ImuData*)this->mMap;
+ }
+ public: ImuData *data;
+};
/***************************************************************************/
/// @addtogroup libgazebo_iface
/// @{
Modified: code/gazebo/trunk/server/controllers/SConscript
===================================================================
--- code/gazebo/trunk/server/controllers/SConscript 2008-09-21 22:47:47 UTC
(rev 7032)
+++ code/gazebo/trunk/server/controllers/SConscript 2008-09-21 22:55:45 UTC
(rev 7033)
@@ -1,7 +1,7 @@
#Import variable
Import('env sharedObjs headers')
-dirs = Split('position2d laser camera factory gripper actarray ptz opaque
bumper')
+dirs = Split('position2d laser camera factory gripper actarray ptz opaque
bumper imu')
if env['with_audio'] == 'yes':
dirs+=Split('audio')
Modified: code/gazebo/trunk/server/sensors/SConscript
===================================================================
--- code/gazebo/trunk/server/sensors/SConscript 2008-09-21 22:47:47 UTC (rev
7032)
+++ code/gazebo/trunk/server/sensors/SConscript 2008-09-21 22:55:45 UTC (rev
7033)
@@ -1,7 +1,7 @@
#Import variable
Import('env sharedObjs headers')
-dirs = Split('camera ray contact')
+dirs = Split('camera ray contact imu')
for subdir in dirs :
SConscript('%s/SConscript' % subdir)
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