Revision: 7309 http://playerstage.svn.sourceforge.net/playerstage/?rev=7309&view=rev Author: rtv Date: 2009-01-28 09:14:36 +0000 (Wed, 28 Jan 2009)
Log Message: ----------- tweaked fasr example Modified Paths: -------------- code/stage/trunk/examples/ctrl/fasr.cc Modified: code/stage/trunk/examples/ctrl/fasr.cc =================================================================== --- code/stage/trunk/examples/ctrl/fasr.cc 2009-01-28 09:05:20 UTC (rev 7308) +++ code/stage/trunk/examples/ctrl/fasr.cc 2009-01-28 09:14:36 UTC (rev 7309) @@ -34,7 +34,7 @@ ModelPosition* pos; ModelLaser* laser; ModelRanger* ranger; - ModelBlobfinder* blobfinder; + //ModelBlobfinder* blobfinder; ModelFiducial* fiducial; Model *source, *sink; int avoidcount, randcount; @@ -46,17 +46,12 @@ public: Robot( ModelPosition* pos, - ModelLaser* laser, - ModelRanger* ranger, - ModelFiducial* fiducial, - ModelBlobfinder* blob, Model* source, Model* sink ) : pos(pos), - laser(laser), - ranger(ranger), - blobfinder(blobfinder), - fiducial(fiducial), + laser( (ModelLaser*)pos->GetUnusedModelOfType( MODEL_TYPE_LASER )), + ranger( (ModelRanger*)pos->GetUnusedModelOfType( MODEL_TYPE_RANGER )), + fiducial( (ModelFiducial*)pos->GetUnusedModelOfType( MODEL_TYPE_FIDUCIAL )), source(source), sink(sink), avoidcount(0), @@ -65,9 +60,11 @@ work_put(0) { // need at least these models to get any work done - assert( pos ); + // (pos must be good, as we used it in the initialization list) assert( laser ); - + assert( source ); + assert( sink ); + pos->AddUpdateCallback( (stg_model_callback_t)PositionUpdate, this ); laser->AddUpdateCallback( (stg_model_callback_t)LaserUpdate, this ); @@ -82,10 +79,6 @@ extern "C" int Init( Model* mod ) { Robot* robot = new Robot( (ModelPosition*)mod, - (ModelLaser*)mod->GetUnusedModelOfType( MODEL_TYPE_LASER ), - (ModelRanger*)mod->GetUnusedModelOfType( MODEL_TYPE_RANGER ), - (ModelFiducial*)mod->GetUnusedModelOfType( MODEL_TYPE_FIDUCIAL ), - NULL, mod->GetWorld()->GetModel( "source" ), mod->GetWorld()->GetModel( "sink" ) ); 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: SourcForge Community SourceForge wants to tell your story. http://p.sf.net/sfu/sf-spreadtheword _______________________________________________ Playerstage-commit mailing list Playerstage-commit@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/playerstage-commit