Revision: 7317
http://playerstage.svn.sourceforge.net/playerstage/?rev=7317&view=rev
Author: natepak
Date: 2009-02-05 23:53:15 +0000 (Thu, 05 Feb 2009)
Log Message:
-----------
Initialize the laser with it's pose
Modified Paths:
--------------
code/gazebo/trunk/server/controllers/laser/sicklms200/SickLMS200_Laser.cc
Modified:
code/gazebo/trunk/server/controllers/laser/sicklms200/SickLMS200_Laser.cc
===================================================================
--- code/gazebo/trunk/server/controllers/laser/sicklms200/SickLMS200_Laser.cc
2009-02-05 23:52:42 UTC (rev 7316)
+++ code/gazebo/trunk/server/controllers/laser/sicklms200/SickLMS200_Laser.cc
2009-02-05 23:53:15 UTC (rev 7317)
@@ -86,6 +86,27 @@
// Initialize the controller
void SickLMS200_Laser::InitChild()
{
+
+ this->laserIface->Lock(1);
+
+ Quatern rot = this->myParent->GetPose().rot;
+ Vector3 pos = this->myParent->GetPose().pos;
+
+ // Update the pose
+ this->laserIface->data->pose.pos.x = pos.x;
+ this->laserIface->data->pose.pos.y = pos.y;
+ this->laserIface->data->pose.pos.z = pos.z;
+
+ this->laserIface->data->pose.roll = rot.GetRoll();
+ this->laserIface->data->pose.pitch = rot.GetPitch();
+ this->laserIface->data->pose.yaw = rot.GetYaw();
+
+ this->laserIface->data->size.x = 0.1;
+ this->laserIface->data->size.y = 0.1;
+ this->laserIface->data->size.z = 0.1;
+
+
+ this->laserIface->Unlock();
}
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