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" ) );
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